2026-09-22T09:37:03Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/129678 2026-02-05 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

application/pdf en text Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2027-05-01 The student, Kevin Murphy, accepted the attached license on 2025-04-02 at 12:23. The student, Kevin Murphy, submitted this Thesis for approval on 2025-04-07 at 14:29. This Thesis was approved for publication on 2025-04-08 at 13:23. DSpace SAF Submission Ingestion Package generated from Vireo submission #21709 on 2025-10-19 at 19:52:34 Conception, design, and implementation of a semi-anthropomorphic teleoperated dynamical rolling robot Murphy, Kevin Francis 2025-04-08 Ramos, Joao Robotics Design Tele-operation eng 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. 2025-05 Thesis https://hdl.handle.net/2142/129678 Copyright 2025 Kevin Francis Murphy Mechanical Sci & Engineering Mechanical Engineering University of Illinois Urbana-Champaign M.S. Thesis