Raspberry Pi Robot with Xtion Pro Live (Prime Sense) called Charlotte

Here is a quick test of the collision detection using a Xtion Pro Live (Prime Sense) with a Raspberry Pi as the brain. (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 after it wasn't responding to the cone in front of it. 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++. Special thanks to Kurt Eckhardt for creating libraries for XBee communication and the espeak library. Communication to the servos is done with a USB2AX micro controller created by Nicolas Saugnier.