Type of Document	Master's Thesis
Author	Narahari, Bharat
Author's Email Address	bnarah1@lsu.edu,bniyengar@gmail.com
URN	etd-10312008-125107
Title	Modeling and Design of Low Cost Customizable Household Robot
Degree	Master of Science in Systems Science (M.S.S.S.)
Department	Computer Science
Advisory Committee	Advisor Name Title S. Sitharama Iyengar Committee Chair Bijaya B.Karki Committee Member Brygg Ullmer Committee Member
Keywords	Customizable Household Robot Solar Powered Security Lawn maintenance
Date of Defense	2008-10-23
Availability	unrestricted
Abstract 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. This thesis explores the concept of customizable household robots (CHR) in the robotics community. An attempt has been made to design a customizable robot by extending the 2 wheel differential drive kinematic model to 4 wheel independent differential drive kinematic model. A framework for CHR is developed which will be able to do various household repetitive tasks. 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.
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