Bring-up of Tello– a dynamic humanoid robot

Byrnes, Joseph

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

Description

Title

Bring-up of Tello– a dynamic humanoid robot

Author(s)

Byrnes, Joseph

Issue Date

2024-05-01

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

Krishnan, Girish

Committee Member(s)

Ramos, Joao

Department of Study

Industrial&Enterprise Sys Eng

Discipline

Systems & Entrepreneurial Engr

Degree Granting Institution

University of Illinois at Urbana-Champaign

Degree Name

M.S.

Degree Level

Thesis

Keyword(s)

• Robotics
• Humanoid
• Biped
• Tello
• Dynamic 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.

Graduation Semester

2024-05

Type of Resource

Thesis

Copyright and License Information

© 2024 Joseph Byrnes

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