{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/124264"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/124264","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Methods for hardware design, motion retargeting, system integration, and tactile sensing for teleoperated robots","abstract":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms","abstract_html":"Submission original under an indefinite embargo labeled 'Open Access'. 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The submission was exported from vireo on 2024-09-16 without embargo terms","The student, Jing-Chen Peng, accepted the attached license on 2024-05-02 at 16:29.","The student, Jing-Chen Peng, submitted this Thesis for approval on 2024-05-02 at 16:36.","This Thesis was approved for publication on 2024-05-02 at 17:01.","DSpace SAF Submission Ingestion Package generated from Vireo submission #20375 on 2024-09-16 at 00:34:03","Although robots’ decision making and manipulation capabilities have not improved to human levels, teleoperated robot systems offer a middle ground, combining humans’ intuition for manipulation and decision making with robots’ ability to work in relatively inhospitable environments. Teleoperated robots must efficiently translate their operator’s commands to the remote environment, and also carry sensor data from the environment back to the operator. In Chapter 2 of this thesis, I present contributions to AVATRINA, a humanoid teleoperated robot with an immersive virtual reality interface. I develop a set of task-oriented metrics to optimize the robot’s hardware design for better workspace coverage, and implement a hand retargeting system to allow intuitive control of a low-Degree-Of-Freedom (DOF) anthopomorphic robot hand. In addition, I describe a modular approach to robot software architecture, enabling rapid hardware and software iteration on the robot platform. Immersive teleoperated robots feed a wide array of information back to their operators, such as visual, audio, and haptic signals. Recently, high resolution vision-based tactile sensors have been developed that can provide touch information suitable for robotics applications. These sensors present an exciting new input modality for robots, giving them tactile information on a much finer level than joint torques or end effector wrenches. In Chapter 3 of this thesis, we present an exploration of one such sensor: The Punyo Soft-bubble sensor. It consists of an inflatable rubber membrane resistant to wear and tear, whose deformation is sensed by an embedded depth camera. A physics-based model of the sensor is developed to convert the observed depth image and pressure signals to dense contact force estimates. The model can be calibrated with only a few data samples, and generalizes to unseen contact geometries and trajectories."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Methods for hardware design, motion retargeting, system integration, and tactile sensing for teleoperated robots"]}]}],"canonical_facts":{"dc:contributor":["Hauser, Kris K"],"dc:creator":["Peng, Jing-Chen"],"dc:date":["2024-05","2024-05-02"],"dc:description":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms","The student, Jing-Chen Peng, accepted the attached license on 2024-05-02 at 16:29.","The student, Jing-Chen Peng, submitted this Thesis for approval on 2024-05-02 at 16:36.","This Thesis was approved for publication on 2024-05-02 at 17:01.","DSpace SAF Submission Ingestion Package generated from Vireo submission #20375 on 2024-09-16 at 00:34:03","Although robots’ decision making and manipulation capabilities have not improved to human levels, teleoperated robot systems offer a middle ground, combining humans’ intuition for manipulation and decision making with robots’ ability to work in relatively inhospitable environments. Teleoperated robots must efficiently translate their operator’s commands to the remote environment, and also carry sensor data from the environment back to the operator. In Chapter 2 of this thesis, I present contributions to AVATRINA, a humanoid teleoperated robot with an immersive virtual reality interface. I develop a set of task-oriented metrics to optimize the robot’s hardware design for better workspace coverage, and implement a hand retargeting system to allow intuitive control of a low-Degree-Of-Freedom (DOF) anthopomorphic robot hand. In addition, I describe a modular approach to robot software architecture, enabling rapid hardware and software iteration on the robot platform. Immersive teleoperated robots feed a wide array of information back to their operators, such as visual, audio, and haptic signals. Recently, high resolution vision-based tactile sensors have been developed that can provide touch information suitable for robotics applications. These sensors present an exciting new input modality for robots, giving them tactile information on a much finer level than joint torques or end effector wrenches. In Chapter 3 of this thesis, we present an exploration of one such sensor: The Punyo Soft-bubble sensor. It consists of an inflatable rubber membrane resistant to wear and tear, whose deformation is sensed by an embedded depth camera. A physics-based model of the sensor is developed to convert the observed depth image and pressure signals to dense contact force estimates. The model can be calibrated with only a few data samples, and generalizes to unseen contact geometries and trajectories."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/124264"],"dc:language":["en","eng"],"dc:rights":["Copyright 2024 Jing-Chen Peng"],"dc:subject":["Robotics","Teleoperation","Tactile Sensing","Finite Element Method"],"dc:title":["Methods for hardware design, motion retargeting, system integration, and tactile sensing for teleoperated robots"],"dc:type":["text"],"thesis:degree_discipline":["Computer Science"],"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"}