Here is a quick test of the collision detection using a Xtion Pro Live (Prime Sense) with a Raspberry Pi as the brain. To note the Rpi is overclocked to 1000Mhz. (You will notice a slight click in the middle of me turning on the collision interrupt call. I forgot I turned it off in the beginning since it was so close to the camera. I realized it after it wasn’t responding to the cone in front of it.) Collision is only detected in the middle of it’s vision. This is due to the legs sometimes crossing over into it’s field of vision during full body rotations. I have also integrated the three vision options into a “heads up display” using OpenNI and OpenCV.
Speech is handled via a espeak library my friend Kurt created. The gait algorithm is a complete rewrite in order to give as much stability to the camera. (Plus I just wanted to see if I could do it…) The USB hub is a de-cased powered 4 port which gets it power from a BEC that takes the 3-cell lipo (11 volt) and drops it down to 5.1 volts which in turn powers the Raspberry Pi, Xtion and the amplified speaker. All code is done in c++.
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