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TechDays 2011 NAO Programming Session

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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, …) - PowerPoint PPT Presentation

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Page 1: TechDays  2011  NAO  Programming  Session
Page 2: TechDays  2011  NAO  Programming  Session

TechDays 2011 NAO Programming

SessionJérôme MonceauxChris Kilner

Page 3: TechDays  2011  NAO  Programming  Session

Les exploits de NAO en 2010

Page 4: TechDays  2011  NAO  Programming  Session

Aldebaran-Robotics in a nutshell

o Founded in 2005, Headquarter in Paris, branch offices (Boston, Shanghai, …)

o Goal : Create humanoid robots and control software as Personal Assistants, Home companions and Academics platforms

o Close to 1200 NAOs in operations in 30 countries in 18 months

o World leader in Humanoid robotics

o 110+ employees : Engineers, PhDs, Sales & Marketing

Page 5: TechDays  2011  NAO  Programming  Session

Le produit dans son ensemble

Powerful User Friendly DESKTOP application

Page 6: TechDays  2011  NAO  Programming  Session

• 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)

Sensor switches / Actuators LEDs

Page 7: TechDays  2011  NAO  Programming  Session

Joint actuators/sensors• JointsAngle 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 jointCan be changed very fast (be careful)You can use it as a security (fall)There is no need for full hardness all

the time

• Position from the MREAngle in radians12 bits precision, absolute, low noiseOn leg motors and all joints

• Electric current (in A)Without signSecurity limitationYou can use it as a power information

• Temperature (in °C)Simulation based on currentSaved continuously on the chestboardSecurity limitation

Page 8: TechDays  2011  NAO  Programming  Session

• 3-axis accelerometer Direct accelerometer output (8 bits, +-2G)Gives a “G” reference, but also other accelerations• 2-axis gyrometerDirect values Could be converted in angular speed (°/s)“Zero” issue• 2 computed inclination anglesComputed with a custom onboard algorithmValues in radians

Sensor: Inertial board

Page 9: TechDays  2011  NAO  Programming  Session

• 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

Sensors: FSRs

Page 10: TechDays  2011  NAO  Programming  Session

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!

Page 11: TechDays  2011  NAO  Programming  Session

Example of sonar detection

Page 12: TechDays  2011  NAO  Programming  Session

Le Developer Program

YOUR ADVENTURE BEGINS NAO

Page 13: TechDays  2011  NAO  Programming  Session

NAO Developer Program

Page 14: TechDays  2011  NAO  Programming  Session

AR = Entreprise qui déborde sur ses communautés

ALDEBARAN Robotics

Clientsclassiques

Salariés Aldebara

n

Test de boites

Trouver des

scenarios

Co-developper des

algorithmes

Résoudre des Pbs

Labos de R&D

Ecrire des modules NAOQI

Beta Testeurs

Developer

Program

Page 15: TechDays  2011  NAO  Programming  Session

Site Developer Program : une communauté internationale de très bons développeurs

Page 16: TechDays  2011  NAO  Programming  Session

Site Developer Program : Destination Applications

Participation au problématique de Nao- Documentation- Amélioration des softwares- Travail sur la reconnaissance vocale

B2B2C : Intégration de solution tièrce(Twitter, lastfm, akinator, paraschool,

aibo, Microsoft-Kinect, eventful)

Développement d’applications nouvelles :

- Des jeux- Des players de musiques- Des challenges (arroser les

plantes, tenir un labyrinthe)

Applications d’actualités

Page 17: TechDays  2011  NAO  Programming  Session

17

NAO & .net

Presented by Chris Kilner

Page 18: TechDays  2011  NAO  Programming  Session

• 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…

Programming NAO with

Page 19: TechDays  2011  NAO  Programming  Session

Installation

• Simple Install contains just:– One dll• naoqidotnetvc90.dll

– Autocompletion help file• naoqidotnetvc90.xml

– Documentaion file• NaoQiDotNet Help.chm

Page 20: TechDays  2011  NAO  Programming  Session

• Add a reference to the naoqidotnet dll

Start .Net project

Page 21: TechDays  2011  NAO  Programming  Session

Hello World

Page 22: TechDays  2011  NAO  Programming  Session

• Managed c++ wrapped around c++• No dependencies• Compiled for .Net 2 for maximum

compatibility– If using VS2010, this requires an app.config

How is it made?

<?xml version="1.0"?><configuration>  <startup useLegacyV2RuntimeActivationPolicy="true">    <supportedRuntime version="v4.0"/>    <requiredRuntime version="v4.0.20506"/>  </startup></configuration>

Page 23: TechDays  2011  NAO  Programming  Session

• Type mapping C++ / C#

Understanding .Net types

std::string -> string

int -> int

float -> float

bool -> bool

std::vector<type> -> System.Collections.Generic.List<type>

AL::ALValue -> System.Collections.ArrayList

Page 24: TechDays  2011  NAO  Programming  Session

Motion & Xbox controller

Move Head with Xbox controller

Page 25: TechDays  2011  NAO  Programming  Session

Control Walk with Xbox controller

Page 26: TechDays  2011  NAO  Programming  Session

Merci de votre attention !