Project Number: MXG-WS20 WPI Robotic Mascot A Major Qualifying Project Report submitted to the faculty of the WORCESTER POLYTECHNIC INSTITUTE in partial fulfillment of the requirements for the Degree of Bachelor of Mechanical Engineering Degree of Bachelor of Robotics Engineering Degree of Bachelor of Computer Science By Jonathan Chang________________________ Connor Dietz___________________________ Treksh Marwaha_________________________ Griffin Roth_____________________________ Date: 10/13/2019 Approved: _____________________________________ Professor Michael A. Gennert, Major Advisor _____________________________________ Professor Gillian Smith, Major Advisor _____________________________________ Professor Holly Ault, Major Advisor This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review. Table of Contents Authorship ......................................................................................................................................................... 3 List of Figures .................................................................................................................................................... 5 List of Tables ..................................................................................................................................................... 7 List of Abbreviations .......................................................................................................................................... 8 Abstract ............................................................................................................................................................. 9 Preface ............................................................................................................................................................ 10 1 | Introduction ................................................................................................................................................. 11 2 | Background ................................................................................................................................................ 12 2.1 - Mascots ............................................................................................................................................... 12 2.2 - Human Interactive Robots .................................................................................................................... 13 2.3 - Goat Anatomy ...................................................................................................................................... 13 2.4 - Animatronics ........................................................................................................................................ 14 3 | Project Conceptualization and Planning ...................................................................................................... 16 3.1 - Outline the Project ............................................................................................................................... 16 3.2 - Stakeholders ........................................................................................................................................ 17 3.3 - Stakeholder and Needs Analysis ......................................................................................................... 18 3.4 - Character Concept ............................................................................................................................... 20 4 | Robot Design .............................................................................................................................................. 22 4.1 - Mechanical Design ............................................................................................................................... 22 4.1.1 - cs1 General Design Overview ....................................................................................................... 22 4.1.2 - cs2 Upper Neck and Head Design ................................................................................................. 23 4.1.3 - cs2c Additional Head Mechanisms Considered ............................................................................. 28 4.2 - Electrical Systems Design .................................................................................................................... 36 4.2.1 - Processor ...................................................................................................................................... 36 4.2.2 - Vision Sensing ............................................................................................................................... 39 4.2.3 - Microphones and Audio ................................................................................................................. 42 4.2.4 - Touch Sensors .............................................................................................................................. 45 4.2.5 - Motors ........................................................................................................................................... 47 4.2.6 - System Diagram ............................................................................................................................ 47 4.2.7 - Power Supply ................................................................................................................................ 48 4.2.8 - Motor Circuit Diagram .................................................................................................................... 50 4.2.9 - Processors and Sensors ................................................................................................................ 52 4.3 - Software Design................................................................................................................................... 53 4.3.1 - Section Introduction ....................................................................................................................... 53 1 4.3.2 - User Experience ............................................................................................................................ 53 4.3.3 - Embedded Software ...................................................................................................................... 60 4.3.4 - AI Architecture ............................................................................................................................... 61 4.3.5 - Unified Model Language (UML) ..................................................................................................... 70 4.3.6 - Prototype ....................................................................................................................................... 72 5 | Results and Progress ................................................................................................................................. 74 5.1 - Mechanical ........................................................................................................................................... 74 5.1.1 - csR1a Differential Mechanism Testing ........................................................................................... 74 5.2 - Electrical .............................................................................................................................................. 77 5.3 - Software .............................................................................................................................................. 80 5.3.1 - Inter-device Communication .......................................................................................................... 80 5.3.2 - Motor Control ................................................................................................................................. 82 5.3.3 - Sensor Data Processing ................................................................................................................ 83 5.3.4 - High Level AI ................................................................................................................................. 84 6 | Discussion and Future Work ....................................................................................................................... 88 6.1 - General ................................................................................................................................................ 88 6.2 - Electrical .............................................................................................................................................. 88 6.3 - Software .............................................................................................................................................. 89 References ...................................................................................................................................................... 91 Appendix A: Key Stakeholder Needs ............................................................................................................... 95 Appendix B: List of Needs and Priorities .......................................................................................................... 96 Appendix C: Robot Requirements ..................................................................................................................