Conception, design, and implementation of a semi-anthropomorphic teleoperated dynamical rolling robot
Murphy, Kevin Francis
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https://hdl.handle.net/2142/129678
Description
Title
Conception, design, and implementation of a semi-anthropomorphic teleoperated dynamical rolling robot
Author(s)
Murphy, Kevin Francis
Issue Date
2025-04-08
Director of Research (if dissertation) or Advisor (if thesis)
Ramos, Joao
Department of Study
Mechanical Sci & Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Robotics
Design
Tele-operation
Abstract
I proposed, designed, built, and tested a Semi-Anthropomorphic Teleoperated dYnamical Rolling Robot (SATYRR), a small force-controlled humanoid robot. SATYRR incorporates a novel proprioceptive design to follow a human body’s captured motions as commands in teleoperation. To address the challenge of conveying interaction forces to the operator, I implemented a vibrotactile feedback system based on an antagonistic force heuristic. This system, termed SATYRR, demonstrates integration of internal force regulation and weight estimation during manipulation tasks, showcasing a novel approach to human-robot interaction. This thesis outlines the motivations behind the robotic platform. The design methodology is introduces and discussed how it shaped physical implementation and control. Human machine interaction methods and its implementation is introduced and discussed. Next, a list of experiments to showcase SATYRR’s unique capabilities are proposed, carried out, and results analyzed and discussed.
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