{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/121559"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/121559","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Bipedal robot walking control using human whole-body dynamic telelocomotion","abstract":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2023-12-04 without embargo terms","abstract_html":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2023-12-04 without embargo terms","abstract_has_math":false,"creators":["Colin Navarro, Guillermo J"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Ramos, Joao"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2023,"date_issued":"2023-08","date_published":"2023-08","updated_at":"2026-07-22T22:25:00Z","subjects":["Bipedal Locomotion","Humanoid Robots","Teleoperation"],"languages":["en","eng"],"rights":["Copyright 2023 Guillermo Colin Navarro"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/121559","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Ramos, Joao"]},{"key":"dc:creator","label":"Author","values":["Colin Navarro, Guillermo J"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2023-08","2023-07-20"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Bipedal Locomotion","Humanoid Robots","Teleoperation"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en","eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2023 Guillermo Colin Navarro"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/121559"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2023-12-04 without embargo terms","The student, Guillermo Colin Navarro, accepted the attached license on 2023-07-20 at 11:22.","The student, Guillermo Colin Navarro, submitted this Thesis for approval on 2023-07-20 at 11:30.","This Thesis was approved for publication on 2023-07-20 at 13:17.","DSpace SAF Submission Ingestion Package generated from Vireo submission #19751 on 2023-12-04 at 17:03:36","The need for deployment of robots in dangerous and/or physically demanding situations, such as search and rescue, has increased the demand for humanoid robots with outstanding sensorimotor skills and highly intelligent decision-making capabilities. A promising solution is to connect humans with humanoid robots via teleoperation. Thus, equipping humanoid robots with human-level intelligence and reflexes. Towards achieving this goal, this thesis presents a framework to dynamically synchronize the gait of a human pilot with the walking of a bipedal robot. First, an intuitive mapping to create a human walking reference from stepping-in-place motion is introduced. The desired walking dynamics generated by the human pilot serve as a reference for the robot to reproduce in a normalized dynamics space. Second, synchronization of the walking reference and robot dynamics in the aforementioned normalized dynamics space is achieved by applying forces to both the human pilot and the robot. Specifically, the haptic forces applied to the human pilot allows the pilot to modify their stepping dynamics to continuously maintain synchrony between the walking reference and robot. Lastly, a step placement law is derived to render the dynamic similarity of the two systems invariant to the hybrid dynamics of walking. The framework is tested in simulation experiments. Using a custom human machine interface, a human subject pilots a reduced-order model of a bipedal robot to achieve stable and synchronous locomotion throughout stepping-in-place, walking, and disturbance rejection experiments."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Bipedal robot walking control using human whole-body dynamic telelocomotion"]}]}],"canonical_facts":{"dc:contributor":["Ramos, Joao"],"dc:creator":["Colin Navarro, Guillermo J"],"dc:date":["2023-08","2023-07-20"],"dc:description":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2023-12-04 without embargo terms","The student, Guillermo Colin Navarro, accepted the attached license on 2023-07-20 at 11:22.","The student, Guillermo Colin Navarro, submitted this Thesis for approval on 2023-07-20 at 11:30.","This Thesis was approved for publication on 2023-07-20 at 13:17.","DSpace SAF Submission Ingestion Package generated from Vireo submission #19751 on 2023-12-04 at 17:03:36","The need for deployment of robots in dangerous and/or physically demanding situations, such as search and rescue, has increased the demand for humanoid robots with outstanding sensorimotor skills and highly intelligent decision-making capabilities. A promising solution is to connect humans with humanoid robots via teleoperation. Thus, equipping humanoid robots with human-level intelligence and reflexes. Towards achieving this goal, this thesis presents a framework to dynamically synchronize the gait of a human pilot with the walking of a bipedal robot. First, an intuitive mapping to create a human walking reference from stepping-in-place motion is introduced. The desired walking dynamics generated by the human pilot serve as a reference for the robot to reproduce in a normalized dynamics space. Second, synchronization of the walking reference and robot dynamics in the aforementioned normalized dynamics space is achieved by applying forces to both the human pilot and the robot. Specifically, the haptic forces applied to the human pilot allows the pilot to modify their stepping dynamics to continuously maintain synchrony between the walking reference and robot. Lastly, a step placement law is derived to render the dynamic similarity of the two systems invariant to the hybrid dynamics of walking. The framework is tested in simulation experiments. Using a custom human machine interface, a human subject pilots a reduced-order model of a bipedal robot to achieve stable and synchronous locomotion throughout stepping-in-place, walking, and disturbance rejection experiments."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/121559"],"dc:language":["en","eng"],"dc:rights":["Copyright 2023 Guillermo Colin Navarro"],"dc:subject":["Bipedal Locomotion","Humanoid Robots","Teleoperation"],"dc:title":["Bipedal robot walking control using human whole-body dynamic telelocomotion"],"dc:type":["text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:00Z"}