Semi-Anthropomorphic Teleoperated Dynamic Rolling Robot – performing Dynamic Mobile Manipulation via teleoperation with the Human Machine Interface

Baek, Donghoon

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https://hdl.handle.net/2142/114249 Copy

Description

Title

Semi-Anthropomorphic Teleoperated Dynamic Rolling Robot – performing Dynamic Mobile Manipulation via teleoperation with the Human Machine Interface

Author(s)

Baek, Donghoon

Contributor(s)

• Ramos, Joao
• Jung, Yeongtae
• Purushottam, Marty
• Murphy, Kevin
• Sim, Youngwoo
• Colin, Guillermo

Issue Date

2022

Keyword(s)

• Mechanical Science
• Engineering

Date of Ingest

2022-06-01T16:57:45Z

Abstract

Firefighters burst through doors and run into burning buildings. Nurses risk measuring the vitals of highly contagious patients. Disaster relief workers face the threats of radiation, explosions, or building collapses. In the mist of these conditions, SATYRR offers onsite support while being teleoperated by a human pilot at a safe distance away from these direct threats. Through the Human Machine Interface (HMI), the pilot is bilaterally connected to the support robot – the robot mimics the human’s movements and user simultaneously feels the same forces the robot feels. With the human in the loop controlling, SATYRR can interact with sick incoming patients, carry out the injured, and perform other dynamic tasks unseen on humanoid robots before. Our current research is focused on demonstrating the primary tasks of locomotion and manipulation in achieving the high-level vision highlighted above. The HMI-pilot-robot platforms have been developed and the interactions between human and robot control are being researched as we look forward to introducing a new generation of teleoperated robots.

Type of Resource

• Text
• Image

Language

eng

Permalink

http://hdl.handle.net/2142/114249

Copyright and License Information

Copyright 2022 Donghoon Baek

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