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Masters thesis Defence by Bharat Narahari |
Presentation Title: Modeling and Design of Low cost Customizable Household Robot
Graduate Committee:
- Dr.S.S.Iyengar(Chair)
- Dr.Brygg Ullmer
- Dr. Bijaya B.Karki
Date: October 23, 2008, Monday
Time: 9:00 am
Location: Robotics research Lab, Room 164
Abstract:
This thesis presents a novel concept of customizable household robots (CHR) in the robotics community. An attempt has been made to design a customizable robot by extending the 4 wheel skid steer kinematic modeling to a 4 wheel independent driven mobile robot. Just as the growth of Personal computer, Mobile phones and Automobiles took place in last 3 decades, the personal robotics industry still in its nascent stage, is heading in the same direction. Just as we can assemble a PC by buying its individual components, in the same way in near future we should be able to assemble a robot at home to do specific/multiple tasks.
This thesis presents the kinematic modeling and 3D design of CHR agBot, agBot is a 4 wheel independently driven solar powered robot. It weighs approximately 25 lbs. It is equipped with various sensors like compass, ultrasonic, GPS, and vision. To validate the concept of customizable household robot, lawn maintenance module and security module have been implemented.
The major contributions of this works are:
1) Kinematic modeling of 4 wheel independent Differential drive mobile robot
2) Implementation of autonomous auger for seed plantation
Everyone is invited.
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