Golem Krang

Golem Krang is a mobile manipulator developed by the Humanoid Robotics Lab at Georgia Tech. It is a two-wheeled balancing platform that has the capability of autonomously standing and sitting. This allows it to transition from static to dynamic stability.

Krang Status

DANGER! ACHTUNG! PELIGRO!

Please note the following surprising facts:

• Krang's frame is connected to electrical ground. Be careful of shorts.
• The Battery Management System will not disconnect when batteries become over-discharged. Over-discharging the batteries will destroy them. Do not over-discharge the batteries.

Construction

• Krang Wiring
• G1 Components
• AMC Servo Drives
• Krang Bus and Module Diagram
• Krang Daemons

Golem Krang Related Theory

• Collection of balancing related theory

Krang Daemons and Libraries

Golem has its own set of daemons and libraries:

Daemons:

• amciod - amc drives daemon
  # amciod -b 1 -m 20 -m 21
• imud - imu daemon
  # imud -b 1
• pciod - powercube io daemon
  # pciod -b 0 -m 14 -m 15
• jachd - joystick daemon
  # jachd
• softestop - software emergency stop
  # softestop -b 1 -d /dev/input/js0 -c 20 -c 21
• krang - the shell script to start/stop all the daemons
  # krang st
# krang sp
# krang re

Battery daemon (bmsd)

Battery monitoring system daemon (BMS) is automatically started when the robot boots up. However, it can be started and stopped manually by
# /etc/init.d/bms start
# /etc/init.d/bms stop
Some useful information about BMS including flags can be found here:

• Preliminary manual
• BMS data flags
• Sample BMS application

Libraries:

• ach - ...
• somatic - ...
• library - Explain what it does, where to get it and any important calls.

Krang Software

How-To Guides

• Override Current Limits

Krang Run a Demo:

Documentation

CAN card

• CAN-PCI405
• CAN API

Schunk modules

• Documentation for the Schunk modules can be found on the Schunk LWA page

To be added