Modeling and control of tele-operated dynamic bi-wheeled humanoid

Purushottam, Amartya

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https://hdl.handle.net/2142/116294 Copy

Description

Title

Modeling and control of tele-operated dynamic bi-wheeled humanoid

Author(s)

Purushottam, Amartya

Issue Date

2022-07-22

Director of Research (if dissertation) or Advisor (if thesis)

Ramos, Joao A

Department of Study

Electrical & Computer Eng

Discipline

Electrical & Computer Engr

Degree Granting Institution

University of Illinois at Urbana-Champaign

Degree Name

M.S.

Degree Level

Thesis

Keyword(s)

Biwheeled locomotion, telerobotics and teleoperation, human and humanoid motion analysis and synthesis, human-in-the-loop

Abstract

Robotic systems that can dynamically combine manipulation and locomotion could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could leverage their body by leaning against collapsed building rubble to push it aside.Here we introduce a teleoperation system that targets the realization of these tasks using human's whole-body motor skills. We describe a new wheeled humanoid platform, SATYRR, and a novel hands-free teleoperation architecture using a whole-body Human Machine Interface (HMI). This system enables telelocomotion of the humanoid robot using the operator's body motion, freeing their arms for manipulation tasks. In this study we evaluate the efficacy of the proposed system on hardware, and explore the control of SATYRR using two teleoperation mappings that map the operators body pitch and twist to the robot’s velocity or acceleration. Through experiments and user feedback we showcase our preliminary findings of the pilot-system response. Results suggest that the HMI is capable of effectively telelocomoting SATYRR, that pilot preferences should dictate the appropriate motion mapping and gains, and finally that the pilot can better learn to control the system over time. This study represents a fundamental step towards the realization of combined manipulation and locomotion via teleoperation.

Graduation Semester

2022-08

Type of Resource

Thesis

Copyright and License Information

Copyright 2022 Amartya Purushottam

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