|SUBJECT:||M.S. Thesis Presentation|
|TIME:||Monday, August 19, 2019, 12:30 a.m.|
|PLACE:||College of Computing Building, CCB 247|
|TITLE:||Balancing and Grasping from Visual Feedback for an Unstable Wheeled Humanoid|
|COMMITTEE:||Dr. Seth Hutchinson, Chair (IC)
Dr. Jun Ueda (ME)
Dr. Jonathan Rogers (AE)
Krang is a Wheeled Inverted Pendulum Humanoid, designed to accomplish strenuous tasks quicker, and with more strength, than the average human being. Weighing over 300 lbs, Krang sits on a differential drive platform balancing on two wheels in an inverted pendulum configuration. The platform forms the first joint in a 17 degree-of-freedom upper body that possesses a waist, torso and two 7 degree-of-freedom arms. Through a whole body control scheme, this unique design allows Krang to manipulate its center of mass to locomote quickly on a plane, while the redundancy of joints enables second order tasks to be completed, such as carrying a tray of water or utilizing its weight torque to lift and move heavy objects. However, while Krang is very capable, it remains unaware of the environment in which it works.