Design and materials
The design of Delta was made in Blender, a professional open source software used for 3D modeling, animations and simulations.
The cylindrical base of Delta is made by iron and aluminium in order to give stability to the robot. The rest of the body incorporate 3D printed parts in plastic PLA. The base has 4 wheels, where only 2 of them have a motor attached to allow movement.
Delta has two Kinect Xbox 360 sensors in interact with the world. One of the sensors is used to track human motions, and also for speech recognition, and it is plugged to a computer running Windows. The second sensor is used as a depth camera for navigation and it is plugged to a computer running Linux.
The movement of Delta is achieved with two DC motors that control 2 of the 4 wheels, allowing the robot to move forward, backwards and turn to the left or right. In addition the robot has 1 servomotor to move the hip and 2 servomotors in the nech to move the head.
One future work is to incorporate also 2 arms to get a more close humanoid aspect and to manipulate objects.
Delta has several periferical components integrated in the design. The most prominent is the LCD screen simulating the face. There is also another screen in the torso that is not being used for now, but it will be useful to show information such as images, videos, etc. Delta also has speakers incorporated in order to talk.
Regarding computation, Delta requires a total of 4 computers running simultaneously: 2 raspberry pi 3 in the cylindrical base of the robot running a Linux distribution, one laptop situated also in the cylindrical base running Windows, and an external computer running Linux. The 4 computers comunicate with each other to integrate all the information processed by Delta. One raspberry pi is used to control all the actuators of Delta. Another raspberry pi deals with the information coming from one of the Kinect sensor for navigation. The laptop processes information from the second Kinect sensor for speech recognition and human body tracking. Finally the external computer integrates all the sensory and motor information, having the decision making modules.
Video of the building process (with english subtitles)
After the creation, Delta was introduced to students in a high school (Edith Stein), with the goal of motivating students towards the robotics and AI fields. This is the video of the demostration (in spanish)
Delta is a robotic project meant to learn and improve my robotic knowledge with no deadline. Future work on this robot will include a more attractive designed looking and the addition of robot arms for object manipulations.