{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/129678"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/129678","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Conception, design, and implementation of a semi-anthropomorphic teleoperated dynamical rolling robot","abstract":"Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2027-05-01","abstract_html":"Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2027-05-01","abstract_has_math":false,"creators":["Murphy, Kevin Francis"],"institution":"University of Illinois 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":2025,"date_issued":"2025-04-08","date_published":"2025-04-08","updated_at":"2026-07-22T22:25:05Z","subjects":["Robotics","Design","Tele-operation"],"languages":["en","eng"],"rights":["Copyright 2025 Kevin Francis Murphy"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/129678","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":["Murphy, Kevin Francis"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2025-04-08","2025-05"]},{"key":"dc:type","label":"Dc Type","values":["text","Thesis"]},{"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 Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Robotics","Design","Tele-operation"]}]},{"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 2025 Kevin Francis Murphy"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/129678"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["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","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."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Conception, design, and implementation of a semi-anthropomorphic teleoperated dynamical rolling robot"]}]}],"canonical_facts":{"dc:contributor":["Ramos, Joao"],"dc:creator":["Murphy, Kevin Francis"],"dc:date":["2025-04-08","2025-05"],"dc:description":["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","I proposed, designed, built, and tested a Semi-Anthropomorphic Teleoperated dYnamical Rolling Robot (SATYRR), a small force-controlled humanoid robot. 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Next, a list of experiments to showcase SATYRR’s unique capabilities are proposed, carried out, and results analyzed and discussed."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/129678"],"dc:language":["en","eng"],"dc:rights":["Copyright 2025 Kevin Francis Murphy"],"dc:subject":["Robotics","Design","Tele-operation"],"dc:title":["Conception, design, and implementation of a semi-anthropomorphic teleoperated dynamical rolling robot"],"dc:type":["text","Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:05Z"}