2026-09-19T21:38:00Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/113263 2023-07-11 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

Ramos, Joao Wang, Sunyu 2022-01-12T22:51:42Z 2022-01-12T22:51:42Z 2024-01-12T22:56:20Z 2021-07-06 2021-08 Supported by the cumulative results of industrial robotics and legged locomotion research, humanoid robotics research has gained great strides in the past decade. The state-of-the-robot humanoid robots have demonstrated human-level dynamic motion capabilities in simple pre-programmed behaviors, such as running and jumping. However, most of these sophisticated and dynamic humanoid robots fall short of societies’ expectations when they attempt to perform seemingly ordinary but useful tasks in the real world, such as opening a door using the door handle, traversing uneven terrains, and interacting with humans. This is largely because these humanoid robots’ artificial brains lack the intelligence and intuition required for planning complex sequences of actions in the face of uncertainties. On the other hand, humans inherently possess such intelligence and intuition. Hence, humanoid robot teleoperation, i.e., controlling humanoid robots with human movements, promises to supply human planning intelligence to the robots, and appears to be a feasible intermediate step in the transition from physically capable humanoid robots to dynamically intelligent humanoid robots. Recent humanoid robot teleoperation results have also demonstrated this method’s potential, as teleoperated humanoid robots approached some autonomous humanoid robots’ superior dynamic performances with significantly simpler control algorithms. Thus, this work is dedicated to the development of a whole-body human-machine interface (HMI) as the medium through which a human and a robot communicate to achieve humanoid robot teleoperation. Specifically, the contribution of this work is the introduction of the HMI’s design and evaluations of the HMI’s performances regarding actuation force capability and sensing effectiveness. Furthermore, an experiment was conducted using the HMI to study physical human-robot interaction in arm teleoperation and compare the robot’s dynamic performances under joint space and task space teleoperation mappings. Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2023-08-01 The student, Sunyu Wang, accepted the attached license on 2021-06-29 at 11:54. The student, Sunyu Wang, submitted this Thesis for approval on 2021-06-29 at 11:57. This Thesis was approved for publication on 2021-07-06 at 17:08. DSpace SAF Submission Ingestion Package generated from Vireo submission #16729 on 2022-01-12 at 13:03:46 Made available in DSpace on 2022-01-12T22:51:42Z (GMT). No. of bitstreams: 2 WANG-THESIS-2021.pdf: 2495818 bytes, checksum: c878dbe46b6bbbacc29b1cd9f0334d8d (MD5) LICENSE.txt: 4207 bytes, checksum: b4722fc90989e0294991a11b8aa94eb1 (MD5) Previous issue date: 2021-07-06 Embargo set by: Seth Robbins for item 121189 Lift date: 2024-01-12T22:51:46Z Reason: Author requested closed access (OA after 2yrs) in Vireo ETD system Embargo set by: Seth Robbins for item 121189 Lift date: 2024-01-12T22:53:32Z Reason: Author requested closed access (OA after 2yrs) in Vireo ETD system Embargo set by: Seth Robbins for item 121189 Lift date: 2024-01-12T22:54:14Z Reason: Author requested closed access (OA after 2yrs) in Vireo ETD system Embargo set by: Seth Robbins for item 121189 Lift date: 2024-01-12T22:55:09Z Reason: Author requested closed access (OA after 2yrs) in Vireo ETD system Embargo set by: Seth Robbins for item 121189 Lift date: 2024-01-12T22:56:20Z Reason: Author requested closed access (OA after 2yrs) in Vireo ETD system Author requested closed access (OA after 2yrs) in Vireo ETD system Limited application/pdf http://hdl.handle.net/2142/113263 en Copyright 2021 Sunyu Wang Humanoid Robotics Human-Robot Interaction A whole-body human-machine interface for dynamic bilateral teleoperation of humanoid robots text Thesis Mechanical Sci & Engineering Mechanical Engineering University of Illinois at Urbana-Champaign Thesis M.S.