Programming NAO the humanoid robot
5 likes2,183 views
The document explains the programming and configuration of humanoid robots, particularly using the Choregraphe software. It provides step-by-step exercises for programming a robot named Nao to perform actions, respond to dialogue, and create animations. The guide includes examples of input-output rules for optimizing the robot's interactions with users.
![To optimize the dialog, we can improve the rules structure. Here are some examples:
Example 1: u: (hello robot) hi human
There is 1 input and 1 output
Example 2: u: ([hello greetings howdy]) hi human
There are different possible inputs and one output
Example 3: u: (["hello robot" greetings howdy]) [hi
hey hello]
There are different possible inputs and some are made
of several words and also different outputs
Example 4: u: ([hello greetings howdy]) [hi hey
"hello human"]
There are different possible inputs and also
different outputs with some made of several words](https://image.slidesharecdn.com/workshopteenen-160424183809/85/Programming-NAO-the-humanoid-robot-13-320.jpg)
![Use the examples to write user rules allowing NAO to introduce himself when asked
Example 1: u: (hello robot) hi human
There is 1 input and 1 output
Example 2: u: ([hello greetings howdy]) hi human
There are different possible inputs and one output
Example 3: u: (["hello robot" greetings howdy]) [hi
hey hello]
There are different possible inputs and some are made
of several words and also different outputs
Example 4: u: ([hello greetings howdy]) [hi hey
"hello human"]
There are different possible inputs and also
different outputs with some made of several words](https://image.slidesharecdn.com/workshopteenen-160424183809/85/Programming-NAO-the-humanoid-robot-14-320.jpg)
![Dialog rules can be linked to animations.
To do so, we have to create events.
Add the following rules:
u: (Please sit down) ok I sit down $sit=1
u: ([" Wave at me" “Greet people“]) Okay I greet $hello=1
Right click and choose « add output » in the
menu to create a new output
Create two new outputs to the dialog box:
« sit » and « hello » and connect them to the matching boxes](https://image.slidesharecdn.com/workshopteenen-160424183809/85/Programming-NAO-the-humanoid-robot-15-320.jpg)
Programming NAO the humanoid robot
- 2. Humanoid robots are robots with their overall appearances based on that of the human body. Robots are electronic machines programmed to do things autonomously.
- 3. Choregraphe is a graphical programming software Virtual robot Main Plan Boxes library
- 4. Output(s) Inputs Settings A box execute a specific action They are written in Python language Boxes can be connected to each other thanks to their inputs and outputs
- 5. Exercise 1 : Configure and wake up NAO Exercise 2 : Program NAO to make him move and speak Exercise 3 : Teach NAO dialog and action rules Improve your application and test it on NAO
- 6. Place and configure the following boxes: • Set language (to configure in your language) • Tactile Head • Stand Up Connect the boxes to each others
- 7. Drag and connect the Say box Double-click at the center of the box to edit it and choose the appropriate language Write down: « Ah, finally I wake up. Happy to be here! » Click on root to come back to the main plan
- 8. By right clicking on the main plan, create a new Timeline box that you name Head Animation Double-click at the center of the box to enter the animation mode We are going to create key frames on the Timeline and for each, define a position for NAO’s head
- 9. Position your cursor on frame 25 and click on NAO’s head in the simulator Adjust the head motor angle To save the position, right click on the Timeline and choose Store joints in Key frame Repeat the operation every 25 frames to create the whole animation
- 10. Click on Play to test Save your project on the desktop Add a Wait box between Stand Up and Head Animation boxes
- 11. Create a new Dialog Box and click on Add a new topic. Select the language and name it HelloWorld (no space allowed) A new folder appears in your project. The first file is your box that you can drag on the main plan.
- 12. Double-click on HelloWorld_enu.top. You will be able to write there user rules that NAO will have to follow. User rules have the following structure: Example: u: (hello) hi human The rule (:u) states that when NAO hears « hello » (input) he answers « hi human » (output). Humain input Robot Output
- 13. To optimize the dialog, we can improve the rules structure. Here are some examples: Example 1: u: (hello robot) hi human There is 1 input and 1 output Example 2: u: ([hello greetings howdy]) hi human There are different possible inputs and one output Example 3: u: (["hello robot" greetings howdy]) [hi hey hello] There are different possible inputs and some are made of several words and also different outputs Example 4: u: ([hello greetings howdy]) [hi hey "hello human"] There are different possible inputs and also different outputs with some made of several words
- 14. Use the examples to write user rules allowing NAO to introduce himself when asked Example 1: u: (hello robot) hi human There is 1 input and 1 output Example 2: u: ([hello greetings howdy]) hi human There are different possible inputs and one output Example 3: u: (["hello robot" greetings howdy]) [hi hey hello] There are different possible inputs and some are made of several words and also different outputs Example 4: u: ([hello greetings howdy]) [hi hey "hello human"] There are different possible inputs and also different outputs with some made of several words
- 15. Dialog rules can be linked to animations. To do so, we have to create events. Add the following rules: u: (Please sit down) ok I sit down $sit=1 u: ([" Wave at me" “Greet people“]) Okay I greet $hello=1 Right click and choose « add output » in the menu to create a new output Create two new outputs to the dialog box: « sit » and « hello » and connect them to the matching boxes