A framework for controlling a Wheeled Inverted Pendulum (WIP) Humanoid to perform useful interactions with the environment, while dynamically balancing itself on two wheels, was proposed. As humanoid platforms are characterized by several degrees of freedom, they have the ability to perform several tasks simultaneously, while obeying constraints on their motion and control. This problem is referred as Whole-Body Control in the wider humanoid literature. We develop a framework for whole-body control of WIP humanoids that can be applied directly on the physical robot, which means that it can be made robust to modeling errors. The proposed approach is hierarchical with a low level controller responsible for controlling the manipulator/body and a high-level controller that defines center of mass targets for the low-level controller to control zero dynamics of the system driving the wheels. The low-level controller plans for shorter horizons while considering more complete dynamics of the system, while the high-level controller plans for longer horizon based on an approximate model of the robot for computational efficiency. Advisors/Committee Members: Hutchinson, Seth (advisor), Theodorou, Evangelos A. (committee member), Boots, Byron E. (committee member), Christensen, Henrik I. (committee member), Romberg, Justin (committee member).