Bring-up of Tello– a dynamic humanoid robot

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.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Systems & Entrepreneurial Engr

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2024

Author dc:creator

• Byrnes, Joseph

Contributors dc:contributor

• Krishnan, Girish
• Ramos, Joao

• Robotics
• Humanoid
• Biped
• Tello
• Dynamic Robot

Statement dc:rights

• © 2024 Joseph Byrnes

Language dc:language

eng, en

Handle dc:identifier

https://hdl.handle.net/2142/124438

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/124438