Nao Robot

Technologies.NaoRobot History

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The Nao Robot is a small, versatile, humanoid robot with various sensors, automatic voice synthesizing and recognition, collision detection, and a video camera. It comes with a programming environment that can be run on a PC, Mac or Linux computer and can be programed in C#, C++, python or visually in their proprietary SDE.
to:
The Nao Robot is a small, versatile, humanoid robot with various sensors, automatic voice synthesizing and recognition, collision detection, and a video camera. It comes with a programming environment that can be run on a PC, Mac or Linux computer and can be programed in C#, C++, python or visually in their proprietary SDE. This page will give a brief introduction to using the visual programming environment, Choregraphe, and an explanation on how to use Nao with Visual Studio in C#. This allows us to integrate with other technologies in the iLab, like the Proximity toolkit.
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'''This page is being built over the course of the winter 2013 semester. We're just learning how to use Nao too - thanks for your patience'''
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* [[#recipes | Recipes, How-To's]]
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- Remember to change the "xxx.xxx.xxx.xxx" to Nao's IP address. He'll announce his IP address when he's on when you touch his chest button.
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String NAO_IP = "xxx.xxx.xxx.xxx";
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You're done! Run it and Nao should sit up and announce the fact that he's connected. Some notes:

- The behavior manager allows you to run all the "boxes" you string together in Choregraphe. You call them by name

- Behaviors must be preloaded before they can be used
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Under construction
to:
[[ http://www.aldebaran-robotics.com/Downloads/Home.html | The official Nao downloads ]]

[[ http://users.aldebaran-robotics.com/ | The secret support site for Nao owners ]]. It uses different login credentials you need to ask support for
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{
Aldebaran.Proxies.TextToSpeechProxy voice = new Aldebaran.Proxies.TextToSpeechProxy(NAO_IP, 9559);
Aldebaran.Proxies.BehaviorManagerProxy beh = new Aldebaran.Proxies.BehaviorManagerProxy(NAO_IP, 9559);
beh.preloadBehavior("SitDown");
beh.runBehavior("SitDown");
voice.say("I'm connected to visual studio");
}
catch (Exception e)
{
Console.WriteLine("Connection could not be established:\n" + e.Message);
}
to:
{
Aldebaran.Proxies.TextToSpeechProxy voice = new Aldebaran.Proxies.TextToSpeechProxy(NAO_IP, 9559);
Aldebaran.Proxies.BehaviorManagerProxy beh = new Aldebaran.Proxies.BehaviorManagerProxy(NAO_IP, 9559);
beh.preloadBehavior("SitDown");
beh.runBehavior("SitDown");
voice.say("I'm connected to visual studio");
}
catch (Exception e)
{
Console.WriteLine("Connection could not be established:\n" + e.Message);
}
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[@
try
{
Aldebaran.Proxies.TextToSpeechProxy voice = new Aldebaran.Proxies.TextToSpeechProxy(NAO_IP, 9559);
Aldebaran.Proxies.BehaviorManagerProxy beh = new Aldebaran.Proxies.BehaviorManagerProxy(NAO_IP, 9559);
beh.preloadBehavior("SitDown");
beh.runBehavior("SitDown");
voice.say("I'm connected to visual studio");
}
catch (Exception e)
{
Console.WriteLine("Connection could not be established:\n" + e.Message);
}
@]
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!! Using Visual Studio (C#)

- Open up a new C# application (WPF, Winforms, console, or anything else).

- Add a new reference by right clicking on references in Solution Explorer. Select browse, and find the files you downloaded for NaoQi. Import naoqi-dotnet4

- Add this code to the main method:
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[[#recipes]]
>>yellowbox<<
!!! Recipes and How-To's

Under construction

>><<
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!! Using Choregraphe
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- Put Nao in a safe, sitting position
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- Put Nao in a safe, sitting position (see the render of the orange Nao in the image below, or the picture of the grey Nao above)
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- Click on the wrench icon on the second motor box. Change it to motors off.

- Run the program by hitting the green play button at the top.

Important: Note the gears icon in the upper right corner beside the batter indicator. Nao's motors are always either engaged or not engaged. When they're not, Nao can't move and is essentially limp. The first box turns the motors on so he'll be able to wave. When the motors are on, Nao gets hot and burns through electricity. Always keep the motors off when not actively running a program. The last box (the second motors box) will turn the motors back off (assuming you went into the settings using the wrench icon and switched it to off). Always start and end programs with those boxes. If a program does not end cleanly, the motors may not be turned off. This is a problem! Nao may overheat and his joints will wear down faster. If this is the case, the gears in that icon will be red. Just push this icon to turn the motors off.
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Attach:Choregraphe1.png
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%center%
Attach:Choregraphe1.png
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Attach:Choregraphe1.png
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Under construction
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Once you've got the files downloaded, start by opening up Choregraphe and using that to connect to your Nao.

- Put Nao in a safe, sitting position
- Turn on Nao by holding the chest button for 1 second (but not much longer than that, because it will make him boot up in a different mode)
- Wait for him to boot completely - he says "Oo nag nook"
- Open Choregrpahe on your computer
- Press Nao's chest button for just one second - He will tell you his IP address
- In Choregraphe, press the green antenna button to connect - a window will pop up. If you see something on the list with a green nao head, click on that and then "connect to". Otherwise, enter the IP address Nao gave you and hit "connect to".
- If connected properly, you will see a feed of Nao's vision and a render of him in his current position on the right side of Choregraphe.
- See the folders on the left side? Under motions > animations, drag out "hello" onto the middle section. Now drag two motor on/off boxes to either side of it and connect them together by dragging the mouse between the start and end points of the program and between the boxes, like this:



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Start by going to [[ http://www.aldebaran-robotics.com/Downloads/Home.html | the official Nao support site ]] and click on "get your login" (if you don't have one) or log in. You may have to send them an email to get credentials, and if so, they will probably ask for your robot's serial number to prove you have one. That information is not posted here since this page is publicly accessible.

Once you are logged in, you will have access to the downloads. Navigate to Software > Choregraphe and download the one appropriate for your operating system.

If you plan to develop using C#, you also have to download NaoQi, which you can reference in your C# project. Start [[ http://users.aldebaran-robotics.com/ | here ]] and it asks you to log in. This requires a '''different''' username/password than before and to get it, you have to contact support (using the navigation bar on that page) and ask for one. This time, you'll definitely have to supply a serial number.

Now that you've got your username and password, login on the previous page and then navigate [[ http://users.aldebaran-robotics.com/index.php?option=com_docman | here ]]. Go to the most recent update (we used 1.14.1) > SDK > NaoQi SDK > .NET > NaoQi for .Net 4 and download that. That will give you the .dll to reference in a C# file.
December 12, 2012, at 07:43 PM by 184.64.138.56 -
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You can download the most recent version of the SDE [[ http://www.aldebaran-robotics.com/Downloads/Home.html | here ]], but you'll need to request a username and password first (at the top of the page).
to:
You can download the most recent version of the SDE [[ http://www.aldebaran-robotics.com/Downloads/Home.html | here ]], but you'll need to request a username and password first (at the top of the page). It's called Choregraphe. Webots also exists on that page - it's a simulator for the robots and isn't required to run Nao.
December 12, 2012, at 07:40 PM by 184.64.138.56 -
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'''This page is being built over the course of the winter 2013 semester. We're just learning how to use Nao too - thanks for your patience'''
December 12, 2012, at 07:38 PM by 184.64.138.56 -
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* [[Attach:Sdgt2.0.1.0.zip|Sdgt 2.0.1.0.zip]]. Download / unzip the SDG Toolkit library and documentation into a folder with a descriptive name (e.g., SDGToolkit).
* [[How to include SDGToolkit in the Visual Studio Toolbox |Include SDGToolkit into the Visual Studio Toolbox]]: Follow these step by step instructions '''once''' to finalize how the SDGToolkit appears in Visual Studio
* '''SDGToolkit API Documentation''': View it by selecting the ''.chm'' file in the SDGToolkit folder.
* '''[[SDG Version history|Version History]]''' of the SDG Toolkit.
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Under construction
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* [[SDGSystemVsSDGMice|The System mouse vs. SDG Mice ]]. Things you should know.
* [[SDGCustomCursors|Creating Custom Cursors]].
* [[SDGMoreMiceThanExists|If You See More Mice Than You Actually Have]]
to:
Under construction
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* [[Simple Sketch]]. Learn how to use multiple mice and adjust their properties.
* [[Tic Tac Toe]]. Learn how to create SDG Widgets by building a simple tic tac toe game.
* [[Simple Text]]. Learn how to use multiple keyboards
* [[Simple Spline]]. Learn how to create a SDG-aware graphics.
* [[Toolglass]]. Learn how to use SDGForm to create a floating tool palette.
* [[SDG Widget Application]] You can also download, unzip and run the msi: [[Attach:sdgwidgetsetup.zip|sdgwidgetsetup.zip]]. This is the SDG Widget library above containing 3 basic SDG widgets: checkbox, radio button, and trackbar. The installer contains the DLL for the widgets, as well as a demo application, and the source for both.

!!! SDG Examples

* [[SDG Pong Game]] - ''Nicolai Marquardt''
* [[SDG Mind Bender Game]] - ''Petra Neumann''
* [[SDG Puzzle Game]] - ''Kimberly Tee''
* [[SDG Candy Game]] - ''Stephanie Smale''
* [[SDG Math Game]] - ''Robert Morgan''
* [[SDG Widgets]] - ''Rob Diaz-Marino''
* [[SDG Button Widget]] - ''Saul Greenberg''

!!! More SDG Examples, from the Winter 2006 CPSC 581 class
* [[SDG Photo Organizer ]] - ''Tim Au Yeung''
* [[SDG Typo Blaster]] - ''John McDonald''
* [[SDG Oh Nuts]] - ''Jordan Schaan''
* [[SDG Musical Bands]] - ''Jim Young ''
* [[SDG Dream Paper Doll]] - ''Sandra Khorina''
* [[SDG KidPad]] - ''Alexandra Braginsky''
* [[SDG Smooth Draw]] - ''Tony Quach''

* [[SDG Gladden Draw]] - ''David Fox ''
* [[SDG Yahtzee]] - ''Liz Friesen''
* [[SDG Fun with Music]] - ''Phil Serchuk ''
* [[SDG Photo Collage]] - ''Jeni Lynn Vito''
to:
Under construction
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'''Documentation/Code'''
* %newwin% [[http://grouplab.cpsc.ucalgary.ca/software/SDGT/Download/All%20Examples.zip | Download all examples (ZIP)]]
* %newwin% [[http://grouplab.cpsc.ucalgary.ca/software/SDGT/Documentation/index.html | Documentation]]
* %newwin% [[SDG Source Code| SDG Toolkit Source Code]]

'''Papers / Videos'''
* Tse, E. (2004) [[http://grouplab.cpsc.ucalgary.ca/papers/2004/04-SDGToolkit-MScThesis/abstract.html|The Single Display Groupware Toolkit.]] MSc Thesis, Department of Computer Science, University of Calgary, Calgary, Alberta, Canada, November.
* %newwin% Tse, E. and Greenberg, S. (2004) [[http://grouplab.cpsc.ucalgary.ca/papers/2004/04-SDGToolkit.AUIC/abstract.html | Rapidly Prototyping Single Display Groupware through the SDGToolkit.]] Proc Fifth Australasian User Interface Conference, Volume 28 in the CRPIT Conferences in Research and Practice in Information Technology Series, (Dunedin, NZ January), Australian Computer Society Inc., p101-110
* %newwin% Tse, E. and Greenberg. S. (2004) [[http://grouplab.cpsc.ucalgary.ca/papers/2004/04-SDGToolkitVideo.CSCW/abstract.html|SDG Toolkit. Video Proceedings of the ACM CSCW Conference on Computer Supported Cooperative Work]]. (November 6-10, Chicago, Illinois). ACM Press. Video and abstract, duration 3:55.
* Tse, E., Histon, J., Scott, S. and Greenberg, S. (2004). [[http://grouplab.cpsc.ucalgary.ca/papers/2004/04-PersonalSpace.CSCW/abstract.html|Avoiding Interference: How People Use Spatial Separation and Partitioning in SDG Workspaces.]] Proceedings of the ACM CSCW'04 Conference on Computer Supported Cooperative Work, (Nov 6-10, Chicago, Illinois), ACM Press.
* Using multiple mice in Developing nations [[http://research.microsoft.com/research/tem/|link]]
* SDG Toolkit Video [[http://grouplab.cpsc.ucalgary.ca/papers/2006/06-SDGToolkitInAction-CSCW/06-SDGToolkitInAction-CSCW.pdf|Video]]
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Under construction
December 12, 2012, at 07:34 PM by 184.64.138.56 -
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The Nao Robot is a small, versatile, humanoid robot with various sensors, automatic collision detection, and a video camera. It comes with a programming environment that can be run on a PC, Mac or Linux computer and can be programed in C#, C++, python or visually in their proprietary SDE.
to:
The Nao Robot is a small, versatile, humanoid robot with various sensors, automatic voice synthesizing and recognition, collision detection, and a video camera. It comes with a programming environment that can be run on a PC, Mac or Linux computer and can be programed in C#, C++, python or visually in their proprietary SDE.
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You can download the most recent version of the SDE [[ http://www.aldebaran-robotics.com/Downloads/Home.html | here ]], but you'll need to request a username and password first (at the top of the page).
December 12, 2012, at 07:30 PM by 184.64.138.56 -
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Nao communicates with a computer using a wifi connection. You can control it through high level commands (like "stand up" which will work from any starting position) or through low level commands, like actuating each individual motor.

For more general information, go to [[ http://www.aldebaran-robotics.com/en/Discover-NAO/Key-Features/hardware-platform.html | the official site ]]
December 12, 2012, at 07:00 PM by 184.64.138.56 -
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%rfloat% Attach:xXX.jpg
The Nao Robot is...
to:
%rfloat% Attach:xxx.jpg
The Nao Robot is a small, versatile, humanoid robot with various sensors, automatic collision detection, and a video camera. It comes with a programming environment that can be run on a PC, Mac or Linux computer and can be programed in C#, C++, python or visually in their proprietary SDE.
December 12, 2012, at 10:41 AM by 136.159.18.28 -
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\\
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The Nao Robot is...

!!! Contents

* [[#download | Download and Installation]]
* [[#recipes | Recipes, How-To's]]
* [[#tutorials | Tutorials and Examples]]
* [[#links | Links]]
\\
\\


[[#download]]
>>greenbox<<
!!! Download and Installation

* [[Attach:Sdgt2.0.1.0.zip|Sdgt 2.0.1.0.zip]]. Download / unzip the SDG Toolkit library and documentation into a folder with a descriptive name (e.g., SDGToolkit).
* [[How to include SDGToolkit in the Visual Studio Toolbox |Include SDGToolkit into the Visual Studio Toolbox]]: Follow these step by step instructions '''once''' to finalize how the SDGToolkit appears in Visual Studio
* '''SDGToolkit API Documentation''': View it by selecting the ''.chm'' file in the SDGToolkit folder.
* '''[[SDG Version history|Version History]]''' of the SDG Toolkit.

>><<

[[#recipes]]
>>yellowbox<<
!!! Recipes and How-To's
* [[SDGSystemVsSDGMice|The System mouse vs. SDG Mice ]]. Things you should know.
* [[SDGCustomCursors|Creating Custom Cursors]].
* [[SDGMoreMiceThanExists|If You See More Mice Than You Actually Have]]

>><<


[[#tutorials]]
>>bluebox<<
!!! Tutorials and Examples

* [[Simple Sketch]]. Learn how to use multiple mice and adjust their properties.
* [[Tic Tac Toe]]. Learn how to create SDG Widgets by building a simple tic tac toe game.
* [[Simple Text]]. Learn how to use multiple keyboards
* [[Simple Spline]]. Learn how to create a SDG-aware graphics.
* [[Toolglass]]. Learn how to use SDGForm to create a floating tool palette.
* [[SDG Widget Application]] You can also download, unzip and run the msi: [[Attach:sdgwidgetsetup.zip|sdgwidgetsetup.zip]]. This is the SDG Widget library above containing 3 basic SDG widgets: checkbox, radio button, and trackbar. The installer contains the DLL for the widgets, as well as a demo application, and the source for both.

!!! SDG Examples

* [[SDG Pong Game]] - ''Nicolai Marquardt''
* [[SDG Mind Bender Game]] - ''Petra Neumann''
* [[SDG Puzzle Game]] - ''Kimberly Tee''
* [[SDG Candy Game]] - ''Stephanie Smale''
* [[SDG Math Game]] - ''Robert Morgan''
* [[SDG Widgets]] - ''Rob Diaz-Marino''
* [[SDG Button Widget]] - ''Saul Greenberg''

!!! More SDG Examples, from the Winter 2006 CPSC 581 class
* [[SDG Photo Organizer ]] - ''Tim Au Yeung''
* [[SDG Typo Blaster]] - ''John McDonald''
* [[SDG Oh Nuts]] - ''Jordan Schaan''
* [[SDG Musical Bands]] - ''Jim Young ''
* [[SDG Dream Paper Doll]] - ''Sandra Khorina''
* [[SDG KidPad]] - ''Alexandra Braginsky''
* [[SDG Smooth Draw]] - ''Tony Quach''

* [[SDG Gladden Draw]] - ''David Fox ''
* [[SDG Yahtzee]] - ''Liz Friesen''
* [[SDG Fun with Music]] - ''Phil Serchuk ''
* [[SDG Photo Collage]] - ''Jeni Lynn Vito''


>><<

[[#links]]
>>greybox<<
!!! Links
'''Documentation/Code'''
* %newwin% [[http://grouplab.cpsc.ucalgary.ca/software/SDGT/Download/All%20Examples.zip | Download all examples (ZIP)]]
* %newwin% [[http://grouplab.cpsc.ucalgary.ca/software/SDGT/Documentation/index.html | Documentation]]
* %newwin% [[SDG Source Code| SDG Toolkit Source Code]]

'''Papers / Videos'''
* Tse, E. (2004) [[http://grouplab.cpsc.ucalgary.ca/papers/2004/04-SDGToolkit-MScThesis/abstract.html|The Single Display Groupware Toolkit.]] MSc Thesis, Department of Computer Science, University of Calgary, Calgary, Alberta, Canada, November.
* %newwin% Tse, E. and Greenberg, S. (2004) [[http://grouplab.cpsc.ucalgary.ca/papers/2004/04-SDGToolkit.AUIC/abstract.html | Rapidly Prototyping Single Display Groupware through the SDGToolkit.]] Proc Fifth Australasian User Interface Conference, Volume 28 in the CRPIT Conferences in Research and Practice in Information Technology Series, (Dunedin, NZ January), Australian Computer Society Inc., p101-110
* %newwin% Tse, E. and Greenberg. S. (2004) [[http://grouplab.cpsc.ucalgary.ca/papers/2004/04-SDGToolkitVideo.CSCW/abstract.html|SDG Toolkit. Video Proceedings of the ACM CSCW Conference on Computer Supported Cooperative Work]]. (November 6-10, Chicago, Illinois). ACM Press. Video and abstract, duration 3:55.
* Tse, E., Histon, J., Scott, S. and Greenberg, S. (2004). [[http://grouplab.cpsc.ucalgary.ca/papers/2004/04-PersonalSpace.CSCW/abstract.html|Avoiding Interference: How People Use Spatial Separation and Partitioning in SDG Workspaces.]] Proceedings of the ACM CSCW'04 Conference on Computer Supported Cooperative Work, (Nov 6-10, Chicago, Illinois), ACM Press.
* Using multiple mice in Developing nations [[http://research.microsoft.com/research/tem/|link]]
* SDG Toolkit Video [[http://grouplab.cpsc.ucalgary.ca/papers/2006/06-SDGToolkitInAction-CSCW/06-SDGToolkitInAction-CSCW.pdf|Video]]

>><<