{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/124438"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/124438","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Bring-up of Tello– a dynamic humanoid robot","abstract":"This thesis documents the electrical design, simulation, control software, and multiple mechanical additions that have comprised the bring-up of RoboDesign Lab’s dynamic humanoid robot- Tello. Designed for research of teleoperation through real-time synchronization of robots and human pilots, the Tello hardware and software has been engineered to meet the unique high-performance requirements that RoboDesign Lab’s research demands. The electrical design of Tello encompasses an array of custom electronics and firmware for handling demanding power management and state feedback requirements. The software development of Tello includes an extensive real-time C++ framework for controlling Tello, both in hardware and within a real-time MuJoCo simulation. Finally, the mechanical design work covered in this thesis includes the development of Tello’s arms, feet, and various sensor mounts to complete the hardware setup into a capable humanoid platform. The Tello hardware has been used to demonstrate impressive balancing under disturbances, dynamic stepping both autonomously and through synchronized motion with a human pilot, and bi-manual manipulation of objects through tracking of a human pilot’s arm motions.","abstract_html":"This thesis documents the electrical design, simulation, control software, and multiple mechanical additions that have comprised the bring-up of RoboDesign Lab’s dynamic humanoid robot- Tello. Designed for research of teleoperation through real-time synchronization of robots and human pilots, the Tello hardware and software has been engineered to meet the unique high-performance requirements that RoboDesign Lab’s research demands. The electrical design of Tello encompasses an array of custom electronics and firmware for handling demanding power management and state feedback requirements. The software development of Tello includes an extensive real-time C++ framework for controlling Tello, both in hardware and within a real-time MuJoCo simulation. Finally, the mechanical design work covered in this thesis includes the development of Tello’s arms, feet, and various sensor mounts to complete the hardware setup into a capable humanoid platform. The Tello hardware has been used to demonstrate impressive balancing under disturbances, dynamic stepping both autonomously and through synchronized motion with a human pilot, and bi-manual manipulation of objects through tracking of a human pilot’s arm motions.","abstract_has_math":false,"creators":["Byrnes, Joseph"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Systems & Entrepreneurial Engr","degree_department":null,"school":null,"contributors":["Krishnan, Girish","Ramos, Joao"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2024,"date_issued":"2024-05-01","date_published":"2024-05-01","updated_at":"2026-07-22T22:25:00Z","subjects":["Robotics","Humanoid","Biped","Tello","Dynamic Robot"],"languages":["eng","en"],"rights":["© 2024 Joseph Byrnes"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/124438","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Krishnan, Girish","Ramos, Joao"]},{"key":"dc:creator","label":"Author","values":["Byrnes, Joseph"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2024-05-01","2024-05"]},{"key":"dc:type","label":"Dc Type","values":["Text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Systems & Entrepreneurial Engr"]},{"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":["Robotics","Humanoid","Biped","Tello","Dynamic Robot"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng","en"]},{"key":"dc:rights","label":"Dc Rights","values":["© 2024 Joseph Byrnes"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/124438"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This thesis documents the electrical design, simulation, control software, and multiple mechanical additions that have comprised the bring-up of RoboDesign Lab’s dynamic humanoid robot- Tello. Designed for research of teleoperation through real-time synchronization of robots and human pilots, the Tello hardware and software has been engineered to meet the unique high-performance requirements that RoboDesign Lab’s research demands. The electrical design of Tello encompasses an array of custom electronics and firmware for handling demanding power management and state feedback requirements. The software development of Tello includes an extensive real-time C++ framework for controlling Tello, both in hardware and within a real-time MuJoCo simulation. Finally, the mechanical design work covered in this thesis includes the development of Tello’s arms, feet, and various sensor mounts to complete the hardware setup into a capable humanoid platform. The Tello hardware has been used to demonstrate impressive balancing under disturbances, dynamic stepping both autonomously and through synchronized motion with a human pilot, and bi-manual manipulation of objects through tracking of a human pilot’s arm motions.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms","The student, Joseph Byrnes, accepted the attached license on 2024-04-30 at 01:52.","The student, Joseph Byrnes, submitted this Thesis for approval on 2024-04-30 at 02:00.","This Thesis was approved for publication on 2024-05-01 at 09:27.","DSpace SAF Submission Ingestion Package generated from Vireo submission #20705 on 2024-09-16 at 00:37:25"]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Bring-up of Tello– a dynamic humanoid robot"]}]}],"canonical_facts":{"dc:contributor":["Krishnan, Girish","Ramos, Joao"],"dc:creator":["Byrnes, Joseph"],"dc:date":["2024-05-01","2024-05"],"dc:description":["This thesis documents the electrical design, simulation, control software, and multiple mechanical additions that have comprised the bring-up of RoboDesign Lab’s dynamic humanoid robot- Tello. Designed for research of teleoperation through real-time synchronization of robots and human pilots, the Tello hardware and software has been engineered to meet the unique high-performance requirements that RoboDesign Lab’s research demands. The electrical design of Tello encompasses an array of custom electronics and firmware for handling demanding power management and state feedback requirements. The software development of Tello includes an extensive real-time C++ framework for controlling Tello, both in hardware and within a real-time MuJoCo simulation. Finally, the mechanical design work covered in this thesis includes the development of Tello’s arms, feet, and various sensor mounts to complete the hardware setup into a capable humanoid platform. The Tello hardware has been used to demonstrate impressive balancing under disturbances, dynamic stepping both autonomously and through synchronized motion with a human pilot, and bi-manual manipulation of objects through tracking of a human pilot’s arm motions.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms","The student, Joseph Byrnes, accepted the attached license on 2024-04-30 at 01:52.","The student, Joseph Byrnes, submitted this Thesis for approval on 2024-04-30 at 02:00.","This Thesis was approved for publication on 2024-05-01 at 09:27.","DSpace SAF Submission Ingestion Package generated from Vireo submission #20705 on 2024-09-16 at 00:37:25"],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/124438"],"dc:language":["eng","en"],"dc:rights":["© 2024 Joseph Byrnes"],"dc:subject":["Robotics","Humanoid","Biped","Tello","Dynamic Robot"],"dc:title":["Bring-up of Tello– a dynamic humanoid robot"],"dc:type":["Text"],"thesis:degree_discipline":["Systems & Entrepreneurial Engr"],"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"}