User GUide

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Welcome to the NAO Community! This guide will help you to get started with your NAO.

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tAble Of CONteNts

04 / WhAt’s iN the bOx06 / WhAt yOu Need tO use yOur NAO08 / NAO OvervieW12 / best prACtiCes18 / OpeNiNg the bOx20 / turNiNg yOur NAO ON ANd Off22 / CONNeCtiNg tO yOur NAO24 / iNstAlliNg the sOftWAre28 / pluggiNg ANd uNpluggiNg NAO’s usb key30 / trOubleshOOtiNg34 / fiNdiNg Out mOre AbOut us

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WhAt’s iN the bOx

1 NAO 1 sOftWAre dvd1 bAttery1 stANdArd ChArger (1.4A)10 sCreWs4 AdAptOrs (EU, US, UK, AUS) 1 spAre usb key1 user guide

OpTiONAlhigh-pOWer ChArger (2A)spAre bAttery

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WhAt yOu Need tO use yOur NAO

1 etherNet CAble1 rOuter With Wifi CONNeCtiON1 COmputer With WiNdOWs, mAC, Or liNux

You can also find information on: http://users.aldebaran-robotics.com, a username and password for this site has been provided in the dvd case.

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NAO OvervieW

NAOH25/H21

TAcTilE SENSOrS

SpEAKErS (x2) ANd EArlEdS

iNfrArEd EmiTTEr/rEcEivEr ANd EYElEdS

hEAd jOiNT

chEST bUTTON

hip jOiNT

prEhENSilE hANdS

(except NAOh21)

ANKlE jOiNT

bUmpErS (x2)

frONT & rEAr micrOphONES

cAmErAS (x2)

lATErAl micrOphONES (x2)

ShOUldEr jOiNT

SONArS (x2)

ElbOw jOiNT

bATTErY

wriST jOiNT

TAcTilE SENSOrS(except NAOh21)

KNEE jOiNT

SENSOr prESSUrE(except NAOh21)

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NAOT14

TAcTilE SENSOrS

SpEAKErS (x2) ANd EArlEdS

iNfrArEd EmiTTEr/rEcEivEr ANd EYElEdS

hEAd jOiNT

chEST bUTTON

wriST jOiNT

prEhENSilE hANdS

frONT & rEAr micrOphONES

cAmErAS (x2)

lATErAl micrOphONES (x2)

ShOUldEr jOiNT

SONArS (x2)

ElbOw jOiNT

bATTErY

TAcTilE SENSOrS

SpEAKErS (x2) ANd EArlEdS

iNfrArEd EmiTTEr/rEcEivEr ANd EYElEdS

hEAd jOiNT

chEST bUTTON

frONT & rEAr micrOphONES

cAmErAS (x2)

lATErAl micrOphONES (x2)

SONArS (x2)

bATTErY

NAOT2

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best prACtiCes

NAOh21/h25 ● NAO needs to be in a stable position when he’s not in use or while charging, like in this picture.

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ENNAOt2/t14

● fix NAO’s base onto a horizontal surface with 4 screws.

etherNet CAble● when plugged into Ethernet, NAO should not walk, lie down or perform behaviors which could move his head too far (particularly tilting his head back), as the plug could damage his head. The wifi connection is the recommended connec-tion.

hANds ● Avoid playing with NAO’s fingers and rotating his hands when turned off.

ChArgiNg NAO ● plug the adaptor intoNAO’s back while he’s in a stable position and leave him to charge for at least 2 hours. he should not walk or lie down while charging.

CleANiNg● Use a damp cloth to clean NAO.

sAfe AreAYou should prevent NAO from falling. Yet if he falls, he should not hurt any object or fall from a high surface, such as a table.A safe working area is shown in the figures opposite. The way you position NAO is also important to prevent NAO from falling or hurting himself. place him in a stable position when pressing his chest button, or when plugging a cable. before starting a move, make sure he can perform it from his current position.

When turned off, the best position is to have NAO lying down on his back, with no cable plugged.

We recommend that NAO adopts these positions while working.

60cm/25in.

NAOh21/h25

30cm/12in.

NAOt2/t14

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ENuNderstANdiNg NAO’s messAges

NAO communicates with you when he is getting too hot or when his battery level is too low so that you can take care of him. This is normal. ● When NAO says:

“Energy” : The battery is very low. The robot is about to turn off and may fall.

“Heat” : The motor of a joint is getting too hot. The joint will become less stiff as a protection and NAO may fall as a result.

“Warning: my head is getting too hot. You should stop playing with me as I will probably start my emergency shutdown procedure” with its eyes blinking. The cpU in the head is getting too hot. You should turn NAO off as its behavior could be unexpected and if the temperature keeps increasing, it will turn off automati-cally.

“Emergency shutdown: the temperature of my head is too high” with its eyes blinking. The cpU in the head is getting too hot, NAO is about to turn off automati-cally and may fall.

● Color of the chest button and level of battery:

- GrEEN: a short green flash means that the battery is fully charged.

- OrANGE: a short orange flash means that the battery charge is less than 60%

- rEd: slow red blinking light means that the battery charge is less than 20%better charge your NAO.

NOTE: when you press the chest button, it also turns green.

● Boot-upwhile NAO boots up, the lEds around its ears light up to show how close it is to finishing. if it remains stuck on one light for more than five minutes, you should remove and reflash the USb key in NAO’s head with the latest version of NAOqi.

temperAture Of the mOtOrs/heAdwhen NAO says “Heat” it means that one of his joint motors is too hot. NAO enters a self-protection mode and starts to limit stiffness. consequently moves which require the motor’s full power might be disturbed. for instance: if your NAO is sitting down and you ask him to stand up he might have trouble achieving this task and fall.

when you write behaviors we recommend that you:

- make NAO move and do not let him stay in the same position for too long when the stifness on.

- plan breaks during which NAO can sit down and remove stiffness to rest for a while. A sample box sequence in choregraphe: “sit down” , “remove stiffness” , “wait 10 minutes” , “turn stiffness back on”,“stand up” (to resume a standing behavior).

stiffNess

What is “stiffness”?To be able to move, NAO’s motorized joints need to be stiff. The “stiffness” of the motors is made possible thanks to power supply.

Stifness and motor temperature when the motors are stiff, their temperature increases.when you turn on your robot, the motors do not become stiff. They become stiff when the stiffness is turned on during a behavior. for example, in choregraphe, the walk box turns on the stiffness.

Quickly releasing the stiffnessTo remove stiffness on all joints, press twice on the chest button. (NAO may fall so make sure you support him!)

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OpeNiNg the bOx

01. remove NAO from his box and place him in a stable position.

02. charge NAO: plug the charger into his back before use.

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turNiNg yOur NAO ON ANd Off

to turn NAO on, press and hold his chest button for 2 seconds: he will boot up then say his name and his battery level.

to turn NAO off, press and hold his chest button for 5 seconds.

Nao may fall so make sure he’s in a safe position.

To force NAO to perform an emergency shut down (not recommended in nor-mal use) press and hold his chest button for 8 seconds.

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CONNeCtiNg tO NAO

Wifi CONNeCtiON

01. To set wifi connection on the webpage, connect the robot via Ethernet.

02. On the webpage of the robot, go to Network.

03. in the list of available networks, click the one you want to use.

04. its configuration page opens. click Connect. NAO will connect automatically when finding this network.

NetWOrk pArAmeters

The router should act as a dhcp server.wireless connection parameters: wEp, wpA or wpA2 personal(channels 1 to 11; channels 12 and 13 are not supported).

etherNet CONNeCtiON

01. Turn on your NAO.

02. remove the hatch behind his head to access to the Ethernet socket.

03. connect NAO to your router via an Ethernet cable.

04. Get his ip address: press his chest button.he says his ip address (e.g. “192.168.1.4”).

05. Open an internet browser (such as internet Explorer, firefox, etc).

06. Type the ip address which NAO has just spoken into the address bar and press Enter.

07. NAO’s webpage opens. Type in the login and password: “nao” for both.

08. Explore the page (change the name, password, volume…).

ROUTER

Note : we recommend you to use the Wifi connection when working with NAO.

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iNstAlliNg the sOftWAre

ChOregrApheOur user-friendly software choregraphe enables you to program easily for NAO. with choregraphe and its flow diagram, you can explore event-based, sequential or parallel programming using a pre-programmed set of behavior boxes. its timeline lets users program with a time scheduled logic. it accepts Urbi and python language, so it can directly call c++ modules developed separately. choregraphe comes with many detailed examples to simplify the learning process.

NAOsimOur simulator NAOsim, developed by our partner cogmation robotics, enables you to test their algorithms in a virtual world governed by real physics.The environment can be modified manually at will by inserting and editing objects of various shapes into the simulated environment.(only for NAOh25/h21)

telepAtheTelepathe is a desktop application that gives you a feedback of what NAO is seeing and feeling. with the camera module, you will receive data from the camera you have chosen. with the memory module, you will have access to data from the robot’s sensors in an ergonomic way.Telepathe also gives you the possibility to test vision algorithms on recorded excerpts.

NAOqiOur ergonomic and well documented SdK enables you to embed modules you have created onto your robot and to use them to create elaborate behaviors for NAO. The SdK for NAO comes with the appro-priate compilation and debugging tools.

T

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ENiNstAllAtiONfOr WiNdOWs

software

01. insert the dvd into your computer.

02. On the dvd, go to SOfTWArE > WINdOWS to open the installation folder.

03. double-click the AldebaranChoregraphe-x.x.x-win32-vc90.exe file to start the installation of the software suite.

Note: “vc90” stands for visual Studio 2008. developers using visual Studio 2005 should instead open the AldebaranChoregraphe-x.x.x-win32-vc80.exe file.

04. follow the wizard to install the software Suite (choregraphe, NAOqi, Telepathe, etc.)

05. repeat the operation for NAOsim. sdk

python and c++ developers should also decompress the SdK archive:- aldebaran-cpp-sdk-x.x.x -win32-vc80.zip, - aldebaran-cpp-sdk-x.x.x -win32-vc90.zip. .NET developers should run the installation wizard for the .NET SdK (NaoqidotNet-x.x.x-win32-vc90.msi).

iNstAllAtiONfOr liNux

software

01. insert the dvd in your computer.

02. On the dvd, go to SOfTWArE > LINux to open the installation folder.

03. Unzip the aldebaran-sdk-x.x.x-linux-i386.tar.gz archive.

04. You will be able to launch choregraphe, NAOqi, and Telepathe by using the scripts at the root of the archive

05. You may experience problems with gra-phical acceleration if you do not have appro-priate drivers. in this case, use:

sdk

c++ and python developers should also decompress the SdK archive (aldebaran-cpp-sdk-x.x.x-linux-i386.tar.gz file).

./choregraphe ./naoqi ./telepathe

./choregraphe --no-ogre

iNstAllAtiON fOr mAC

software

01. insert the dvd in your computer.

02. On the dvd, go to SOfTWArE > MAC to open the installation folder.

03. Open the Aldebaran-SdK-x.x.x-macosx-i386.dmg file.

04. drag and drop the Choregraphe and Telepathe applications into the Applications directory.

05. repeat the operation for NAOsim. sdk

c++ and python developers should also decompress the SdK archive (aldebaran-cpp-sdk-x.x.x-macosx-i386.tar.gz).

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pluggiNg ANd uNpluggiNg NAO’s usb key

This procedure is necessary to flash the USb key or to change the USb key.

01. make sure NAO is off and in a stable position.

02. remove the hatch behind NAO’s head to access the USb key.

03. remove the USb key from the head.

04. plug the new USb key into the head with the gold connectors facing upwards.

05. replace the hatch in the correct position.

Note: make sure the version of the OS installed on the USb disk and the version of NAOqi running on your computer are the same.

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trOubleshOOtiNg

OLdgeNerAlMy robot does not start, or starts but does not finish booting.

01. make sure the USb key in its head is inserted correctly, and that the head is correctly clicked on.

02. flash the USb key inside NAO’s head with the latest version of NAOqi.

03. remove the battery and charge it for at least 2 hours, then replace the battery.

04. press the chest button again to turn it on.

if it still does not start, contact support.

I can’t turn my robot off.

To turn NAO off, you should place NAO in a stable position and hold down his chest button for 5 seconds. if he does not turn off, press and hold his chest button for 8 seconds to force shutdown.

CONNeCtiONNAO says that he can’t connect to the network.

01. connect the robot via Ethernet (make sure the Ethernet cable is correctly plugged into NAO and to the router).

02. make sure your network is configured in dhcp as described earlier in this guide.

03. Turn NAO off.

04. Turn NAO on.

05. Go to the webpage of the robot and connect to one of the available wifi connections.

NAO should now be connected to the network. if he still says «i can’t connect to the network», contact support.

When I start NAO, he does not say its IP address. What should I do?

This is normal. NAO only says his name and the charge level of the battery when starting. press his chest button again, and NAO says his ip address.

hArdWAreNAO moves uncontrollably.

01. reflash the USb key (in choregraphe, with your NAO connected, go to CONNECTION > AdvANCEd > fLASH YOur uSB KEY).

02. replace the USb key with the Spare USb Key and upgrade it.

03. reinstall NAOqi on your computer.

04. Upgrade NAOqi on your computer and NAO (having the same software version is required).

05. restart your robot.

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ENChOregrApheWhen I play a behavior, some boxes turn red. What’s the problem?

it occurs when you play a behavior made of boxes which cannot be simu-lated on a virtual robot (called «local NaoQi»); for example, the Say box, as speech is not simulated.

01. connect choregraphe to NAO.

02. play the behavior on the physical robot itself.

if your problem is still not solved, please contact: support via : http://users.aldebaran-robotics.com

03. The head should lift off.

04. To replace NAO’s head, simply align the connector on his neck with the body and push down. You should make sure that the head fully ‘clicks’ in; both buttons should snap back into place.

remOviNg NAO’s heAd

you will need to do this if your robot does not turn on, if you want to change the head, or if asked to do so by support.

01. with NAO turned off and unplugged, firmly grip his head on either side of his face.

02. push up on the two buttons located on the underside of NAO’s head as shown, making sure they are fully pressed in.

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fiNdiNg Out mOre AbOut us

The NAO community should be your first port of call for support and information: http://users.aldebaran-robotics.comYour login and password are inside the dvd package.

read the documentation.it can be found on the dvd, on the forum and with the software.

contact support: http://users.aldebaran-robotics.com

for information about AldebArAN robotics, visit our website at www.aldebaran-robotics.com

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NOtes

©2011 ALdEBArAN robotics www.aldebaran-robotics.com

AldEbArAN robotics, the AldEbArAN robotics logo, and NAO are trademarks of AldEbArAN robotics. Other trademarks, trade names and logos used in this document refer either to the entities claiming the marks and names, or to their products. AldEbArAN robotics disclaims proprietary interest in the marks and names of others. choregraphe® & NAO® are registered trademarks of AldEbArAN robotics. The design of NAO® is the property of AldEbArAN robotics. All the photos featured in this document are noncontractual and are the property of AldEbArAN robotics.

designed by Edouard duvernay for AldEbArAN robotics. printed in france.