Conception, design, and implementation of a semi-anthropomorphic teleoperated dynamical rolling robot

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.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois Urbana-Champaign

Year dc:date

2025

Author dc:creator

• Murphy, Kevin Francis

Contributors dc:contributor

• Ramos, Joao

• Robotics
• Design
• Tele-operation

Statement dc:rights

• Copyright 2025 Kevin Francis Murphy

Language dc:language

en, eng

Handle dc:identifier

https://hdl.handle.net/2142/129678

OAI record oai:identifier

https://www.ideals.illinois.edu/oai-pmh?verb=GetRecord&metadataPrefix=etdms&identifier=oai%3Awww.ideals.illinois.edu%3A2142%2F129678