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TechDays 2011 NAO Programming Session

TechDays 2011 NAO Programming Session. Jérôme Monceaux Chris Kilner. Les exploits de NAO en 2010. Aldebaran -Robotics in a nutshell. Founded in 2005, Headquarter in Paris, branch offices (Boston, Shanghai, …)

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TechDays 2011 NAO Programming Session

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  1. TechDays 2011 NAO Programming Session Jérôme Monceaux Chris Kilner

  2. Les exploits de NAO en 2010

  3. Aldebaran-Robotics in a nutshell • Founded in 2005, Headquarter in Paris, branch offices (Boston, Shanghai, …) • Goal : Create humanoid robots and control software as Personal Assistants, Home companions and Academics platforms • Close to 1200 NAOs in operations in 30 countries in 18 months • World leader in Humanoid robotics • 110+ employees : Engineers, PhDs, Sales & Marketing

  4. Le produit dans son ensemble Powerful User Friendly DESKTOP application

  5. Sensorswitches / ActuatorsLEDs • Switches • Chest button • 2*2 feet bumpers • “0”: not pressed / “1”: pressed • LEDs • 8*2 RGB eyes • 10*2 blue ears • 1 RGB chest • 2*RGB feet • 12 head (acad) • Values from “0” (Off) to “1” (full On)

  6. Joint actuators/sensors • Position from the MRE Angle in radians 12 bits precision, absolute, low noise On leg motors and all joints • Electric current (in A) Without sign Security limitation You can use it as a power information • Temperature (in °C) Simulation based on current Saved continuously on the chestboard Security limitation • Joints Angle value in radians - Be careful with fast moves - • Stiffness (Hardness) From 0 (electromagnetic break) to 1 (current limit to maximum) Possible Freewheel (negative value) Set it before moving the joint Can be changed very fast (be careful) You can use it as a security (fall) There is no need for full hardness all the time

  7. Sensor: Inertialboard • 3-axis accelerometer Direct accelerometer output (8 bits, +-2G) Gives a “G” reference, but also other accelerations • 2-axis gyrometer Direct values Could be converted in angular speed (°/s) “Zero” issue • 2 computed inclination angles Computed with a custom onboard algorithm Values in radians

  8. Sensors: FSRs • 4 *2 FSRs • Weight on each sensors • The value is calibrated and directly in Kg • Total weight on the foot • Position of the center of pressure on each foot

  9. Sonar actuators & sensors • 2* Sonars • Every 100ms, you can send a request to the sonar • Automatic mode available (both side every 100ms) • We are providing multiple echoes (up to 10) • Take care of the arms!

  10. Example of sonar detection

  11. Le Developer ProgramYOUR ADVENTURE BEGINS NAO

  12. NAO Developer Program

  13. AR = Entreprise qui déborde sur ses communautés Clientsclassiques Test de boites Résoudre des Pbs Trouver des scenarios Salariés Aldebaran ALDEBARAN Robotics Beta Testeurs Developer Program Labos de R&D Ecrire des modules NAOQI Co-developper des algorithmes

  14. Site Developer Program : unecommunautéinternationale de trèsbonsdéveloppeurs

  15. Site Developer Program : Destination Applications Applications d’actualités • Développement d’applications nouvelles : • Des jeux • Des players de musiques • Des challenges (arroser les plantes, tenir un labyrinthe) B2B2C : Intégration de solution tièrce (Twitter, lastfm, akinator, paraschool, aibo, Microsoft-Kinect, eventful) • Participation au problématique de Nao • Documentation • Amélioration des softwares • Travail sur la reconnaissance vocale

  16. NAO & .net Presented by Chris Kilner

  17. Programming NAO with • Easy way to program Nao • Use any .Net language • C# • VBScript • Jscript • Features • Full API – Motion, Vision, Audio • Access to all sensors and actuators • Inertial Sensor, FSRs, joints, sonars…

  18. Installation • Simple Install contains just: • One dll • naoqidotnetvc90.dll • Autocompletion help file • naoqidotnetvc90.xml • Documentaion file • NaoQiDotNet Help.chm

  19. Start .Net project • Add a reference to the naoqidotnetdll

  20. Hello World

  21. How isit made? • Managed c++ wrapped around c++ • No dependencies • Compiled for .Net 2 for maximum compatibility • If using VS2010, this requires an app.config <?xml version="1.0"?><configuration>  <startup useLegacyV2RuntimeActivationPolicy="true">    <supportedRuntime version="v4.0"/>    <requiredRuntime version="v4.0.20506"/>  </startup></configuration>

  22. Understanding .Net types • Type mapping C++ / C# std::string -> string int -> int float -> float bool -> bool • std::vector<type> -> System.Collections.Generic.List<type> • AL::ALValue -> System.Collections.ArrayList

  23. Motion & Xboxcontroller Move Head with Xbox controller

  24. Control Walkwith Xbox controller

  25. Merci de votre attention !

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