Ultrasound Robot Impedance Control
Budget: €6 – €12 EUR
I am refining a shared-control medical robotics platform that steers an echographic probe while the clinician teleoperates it. The immediate task is to craft, tune, and validate the control algorithms that keep the probe stable on a virtual human phantom surface and react safely to operator inputs.
My overriding focus is on control algorithms, with impedance control taking center stage. All development and testing happen inside CoppeliaSim, and the controller must rely on Pinocchio for accurate rigid-body dynamics. Once the algorithm behaves as expected in simulation, we will migrate it to the real robot.
What I need from you:
• A fully working impedance controller coded for easy integration with our existing CoppeliaSim scene
• Direct calls to Pinocchio for real-time dynamics, including mass matrix, Coriolis, and gravity terms
• A short stability and performance report (plots and key metrics) demonstrating safe surface interaction and smooth operator hand-over
• Clean, well-commented source files plus a brief setup guide so my team can reproduce every result on our end
I am open to your choice of C++ or Python as long as it runs at control-loop rates inside the simulator. If you have prior experience coupling CoppeliaSim with Pinocchio or have published impedance or hybrid position-force controllers, let’s talk—your expertise will accelerate this project’s clinical impact.
The robot is Kuka iwa7 R800 with 7 dof
My overriding focus is on control algorithms, with impedance control taking center stage. All development and testing happen inside CoppeliaSim, and the controller must rely on Pinocchio for accurate rigid-body dynamics. Once the algorithm behaves as expected in simulation, we will migrate it to the real robot.
What I need from you:
• A fully working impedance controller coded for easy integration with our existing CoppeliaSim scene
• Direct calls to Pinocchio for real-time dynamics, including mass matrix, Coriolis, and gravity terms
• A short stability and performance report (plots and key metrics) demonstrating safe surface interaction and smooth operator hand-over
• Clean, well-commented source files plus a brief setup guide so my team can reproduce every result on our end
I am open to your choice of C++ or Python as long as it runs at control-loop rates inside the simulator. If you have prior experience coupling CoppeliaSim with Pinocchio or have published impedance or hybrid position-force controllers, let’s talk—your expertise will accelerate this project’s clinical impact.
The robot is Kuka iwa7 R800 with 7 dof