<latex> {\fontsize{12pt}\selectfont \textbf{Summaries of Completed Student Projects} </latex>

• Nonlinear MPC for robots in contact
• Design and control of a simple robot with soft skin
• Functional use of skin in interaction control
• Low Level Electronics and Weight Estimation for a Ballbot
• Mechanical Design and Control of a High-Performance Treadmill for the Quadrupedal Robot HyQ
• GPU-Based Rigid Body Dynamics
• Improving the Transparent Behavior of a Robotic Gait Orthosis for Novel Rehabilitation Tasks
• Estimating Whole Body Impedance
• Improving Force Control on a Hydraulic Quadruped
• Development of a Modular Rigid Body Simulation Framework
• Optimization of Stereotypical Trotting Gait on HyQ
• Optimization of the low-level torque controller on HyQ
• Simulation and Control of Free-flying Space Manipulator
• Towards Fully Autonomous In-Situ Robotic Fabrication
• Preliminary Measurements for the Employment of Robots in Archaeological Use-wear Analysis
• Dynamically Stable Body Path Planning for Quadruped Locomotion
• Robot-Centric Absolute Reference State Estimation
• Learning agile quadcopter control with a cable-suspended load
• Visual Perception for Hydraulically Actuated Quadrotor Robot
• Pressure-Based Hydraulic Impedance Control
• Neuromechanics of Position and Orientation Control in Planar Movements
• Cost-Function Toolbox for Optimal Control
• Balance Control of an Exoskeleton
• Robot motion synthesis using direct transcription methods for trajectory optimization
• Transparency Control For Wearable Robots
• Modelling and Control of the Hydraulic Drive System of an In-Situ Fabricator
• Automating Experimental Archaeology
• Development of an Arm Control Strategy for an In-Situ Fabricator
• Dynamic Capability Analysis and Arm Controller Development for an In-Situ Fabricator
• Partial Differential Flatness in HyQ
• Localization & Motion Detection using a 2D Laser Rangefinder
• Reachability Sets for Optimal Feedback Controllers
• Visual-Inertial Position Control for a Hydraulic Treadmill
• Unit Quaternion Parameterization for the iLQG Algorithm and its Application to the In situ Fabricator
• Visual-Inertial Sensor Fusion for Mobile Manipulation
• Optimal and Learning Balance Control of an Exoskeleton
• Development and Implementation of Optimized Walking Algorithms for Exoskeleton Robots
• Closed loop positioning of large-scale robotic systems
• Nonlinear Optimal Control Using Multiple Shooting
• Human-Robot Interaction Force Estimation for Transparency Control on Wearable Robots
• Certification of Controllers for Wearable Robots
• Monitoring a Spear Thrusting Task using Dynamic and Kinematic Sensors
• Learning Rigid Body Dynamics for Optimal Control
• Direct transcription for legged robots using contact models
• Rigid Body Contact Force Model\
• Push recovery using a Stability Index
• Learning Motion Control of Robotic Arms via PILCO: Python Implementation
• Global and local state estimation of the In-Situ Fabricator while building mesh mold
• Acceleration-based Transparency Control for Articulated Robots
• Direct Multiple Shooting for Trajectory Optimization of Articulated Robots
• Development of a Prototype for a High Resolution Tactile Sensor
• Visual Inertial Sensor Fusion using an Unscented Kalman Filter
• Learning Rigid Body Dynamics of Constrained Multibody Systems
• Modelling and Control of a Mobile Manipulator for On-Site Robotic Building Construction