Generation Robots Nao Presenter Manual de usuario

Nao Presenter

User Guide

Nao Presenter - V2.1.7

Contents

1 Nao Presenter 2

1.1 Generaldescription ............................... 2

1.2 Technical description of the NAO humanoid robot . . . . . . . . . . . . . . . 2

1.3 Requirements................................... 3

1.4 Accessing the robot parameters . . . . . . . . . . . . . . . . . . . . . . . . 3

1.5 General ﬂow of the behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1.6 Automatic repositioning of the robot . . . . . . . . . . . . . . . . . . . . . . 4

1.7 Pausing and stopping presentations . . . . . . . . . . . . . . . . . . . . . . 4

1.8 Sound volume management . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2 Using the program 4

2.1 StartingNAO ................................... 4

2.2 Starting the program on the PC . . . . . . . . . . . . . . . . . . . . . . . . . 5

2.3 Stoppingtheprogram .............................. 5

2.4 Conﬁgurationﬁle ................................. 5

2.5 Autonomous life conﬁguration . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2.6 Defaultpictures.................................. 7

3 Creating a new presentation 7

3.1 Architectureﬁle.................................. 7

3.1.1 Background pictures . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3.1.2 Introduction................................ 8

3.1.3 Presentations............................... 8

3.2 Presentationfolder................................ 8

3.2.1 Main presentation ﬁle . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3.3 Descriptionﬁle .................................. 9

3.3.1 Initialization................................ 10

3.3.2 Moving .................................. 10

3.3.3 Changingslides ............................. 10

3.3.4 Pronouncingtext............................. 11

3.3.5 Playing sound on the robot . . . . . . . . . . . . . . . . . . . . . . . 11

3.3.6 Delaysinastep ............................. 11

3.3.7 Triggering Powerpoint animations . . . . . . . . . . . . . . . . . . . . 11

3.3.8 Wait for slide change . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.3.9 Obtain user input through voice . . . . . . . . . . . . . . . . . . . . . 12

3.3.10 Conditional execution . . . . . . . . . . . . . . . . . . . . . . . . . . 12

3.3.11 Stopping the presentation . . . . . . . . . . . . . . . . . . . . . . . . 12

3.3.12 Jumping to a speciﬁc step . . . . . . . . . . . . . . . . . . . . . . . . 12

3.3.13 Playing sounds and videos on the computer . . . . . . . . . . . . . . 13

3.4 Thereplacementﬁle ............................... 13

4 Presentation development 13

4.1 Testingtool .................................... 13

4.2 Deploying sound ﬁles to Nao . . . . . . . . . . . . . . . . . . . . . . . . . . 14

5 Troubleshooting 14

5.1 Nao does not do anything . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

5.2 My presentation does not appear . . . . . . . . . . . . . . . . . . . . . . . . 14

5.3 Sounds are not played by the robot . . . . . . . . . . . . . . . . . . . . . . . 14

5.4 NAO does not pronounce all my text . . . . . . . . . . . . . . . . . . . . . . 15

5.5 Itstilldoesnotwork ............................... 15

A List of available movements 16

1 Nao Presenter- V2.1.7

1 Nao Presenter

1.1 General description

This behavior has been designed by G´

en´

eration Robots Lab’. The behavior targets pro-

fessionals that want to have a NAO humanoid robot as a public interface for their clients.

NAO Presenter uses a NAO humanoid robot, a screen and a PC. Based on this setup,

the NAO robots performs interactive talks where the robot acts as a speaker with a Power

Point displayed on the screen. The interesting feature of the behavior is that the speech

and the movements of the robot are synchronized with what is displayed on the screen.

The user provides the content of the talk and the various images. As this guide explains,

this is fairly easy to update existing talks or to create new one.

1.2 Technical description of the NAO humanoid robot

Figure 1: Technical description of the NAO robot

The NAO humanoid robot has the following sensors:

•3 touch sensors on his head

•Infrared sensors in his eyes

•2 cameras (one on the forehead and the other in the mouth)

•An inertial measurement unit in the chest of the robot that gives the 3D pose of the

robot (the robot knows his pose and can detect tilts)

•2 bumpers on the feet

2 Nao Presenter- V2.1.7

•2 capacitive sensors under the feets (the robot knows if his feet touch the ground)

•4 microphones in the head to hear sounds

1.3 Requirements

•1 NAO robot, with software 2.1.3 or higher

•1 PC (a laptop is ﬁne) under Windows 7 or higher with a valid license of Microsoft

PowerPoint 2010 or higher

•An optional external screen (recommended for a greater impact).

•Connection between the PC and NAO can use Wiﬁ or Ethernet, but an Ethernet

cable is needed at least on the ﬁrst use of the robot to conﬁgure the Wiﬁ. It is

strongly recommended to use the Wiﬁ (avoiding an extra cable for the robot) and to

provide a strong Wiﬁ access point close to NAO and the computer

•2 power plugs (NAO, computer) are needed. A third one if you use an external

screen.

Installing the software is done with the assistance of Generation Robots.

1.4 Accessing the robot parameters

If you enter the IP address of the robot in a browser of a PC that is connected to the same

network as the robot, then the webpage of the robot is displayed. This webpage allows

the user to change several parameters such as the parameters of the Wiﬁ connection, the

sound level, the name of the robot, the language. This must be done at least the ﬁrst time

you start NAO to conﬁgure its Wiﬁ connection.

1.5 General ﬂow of the behavior

When the behavior is launched (see section 2.2), the screen displays an image and NAO

is running the automous life. NAO does random movements and tells some words to gain

the attention of the public. When the robot senses that its motors are hot, it reduces its

movements.

When the robot detects someone, NAO knows it and the autonomous life is put in standby.

A new welcome image is displayed on the screen. NAO now looks at the person directly

in the eyes (when there are several persons, NAO looks at them one after another). In

order to prevent starting a talk when this is not needed, NAO waits for 5 seconds that the

person stay in the ﬁeld. After 5 seconds, the introductory talk is launched.

This introductory talk explains to the public how to interact with NAO and the various fea-

tures available. The introductory talk can be updated like the other talks.

When the introductory talk is over, the screen displays 6 images corresponding to 6 talks.

The user can also use the touch screen or voice recognition to trigger one of the presen-

tations.

3 Nao Presenter- V2.1.7

Figure 2: Example of the selection screen

What is a talk? A talk is composed of the following elements: a Power Point ﬁle, a text

said by the robot, the list of movements of the robot and eventually sounds and videos.

To know more, see section 3.

1.6 Automatic repositioning of the robot

Regularly during the behavior, NAO stands up, sit down, rotates and walks a little. Nao is

able to correct for small drifts, but not for important ones. It is therefore important to make

it start in a properly centered position.

1.7 Pausing and stopping presentations

During a presentation (except for the introduction), a person can pause the talk by touch-

ing the middle head tactile sensor of Nao. NAO emits a sound to indicate the pause state

and ﬁnishes the current step. Nao then stands waiting and breathing. The talk start again

when the person pushes again on the middle head tactile sensor. A sound indicates the

end of the pause mode.

It is possible to terminate the presentation by pressing two times on the middle head

tactile sensor. NAO emits a speciﬁc sound to indicate the end of the presentation.

1.8 Sound volume management

Sound volume can be adjusted at anytime using the front/rear head tactile sensors to

increase/decrease the volume respectively.

2 Using the program

2.1 Starting NAO

We assumes here that the Wiﬁ parameters have been correctly setup last time you used

NAO, so there is no need to change the parameters.

•Connect the power cord to NAO, make him sit or crouch at the center position.

•Press chest button, the robot will start booting.

•At the end of the booting process you should hear ‘okgnaknouk’, the NAO Presenter

behavior starts automatically.

4 Nao Presenter- V2.1.7

•When the behavior is fully running, Nao will go to crouch position and say ”Hello” in

the default language.

WARNING: The behavior starts with autonomous life. The robot does random move-

ments. Make sure that the robot is on a solid and ﬂat surface and that there is no risk to

fall down. The warranty of the robot is valid if the robot falls down from its height but not if

it falls down from a table.

2.2 Starting the program on the PC

•Start the PC.

•Connect the Ethernet cable if not using Wiﬁ.

•Make sure the robot is ready (see previous section).

•If you need to change the conﬁguration, refer to section 2.4.

•Double click on the NaoPresenterMaster icon. The program begins and Nao starts

doing the autonomous life.

2.3 Stopping the program

To stop the program, press the Alt and Tab keys on the PC until the console of the pro-

gram appears (the console is the black small windows). Close this console. After a few

seconds, the autonomous life ends.

Now, you can switch off NAO by pressing the chest button untils he says ”nocnoc”. You

can switch off the PC.

2.4 Conﬁguration ﬁle

The conﬁguration ﬁle name conﬁguration.xml and is located in the main folder next to the

executable ﬁles. t contains the main parameters of the behavior. This ﬁle is read by the

program when starting. The ﬁrst customization of this ﬁle is done with you by Generation

Robots. However it is possible that you need to update this ﬁle. Here is the default content

of this ﬁle:

<? xml version =" 1.0 " ? >

< con figu ratio n >

< NaoIP > 192.168.0.133 </ NaoIP >

< M ainPa th > Demo</ Main Path >

< D efa ultL ang uage > French</ Defa ultLa ngu age >

< Vo iceS peed > 100 </ Vo iceS peed >

< S tartW it hM idd le Ta cti le >1 </ St ar tWi th Mi ddl eT ac til e >

< W ai tA fterPre se nt at io nF inish ed >0 </ Wa it After Pr es en ta ti onFin is he d >

</ con fig uration >

The parameters are:

•NaoIP : his parameter contains either the name of the robot (ex: nao.local) or its IP

address (ex: 192.168.0.133). We recommend to use the name of the robot because

the IP address can change after a deconnection. However, in case of a problem

with the software “Bonjour” the IP address is easier to use. The IP address of the

robot can be obtained by pressing quickly on the button that is on the chest of the

robot. Default value : nao.local

5 Nao Presenter- V2.1.7

•MainPath : this is the absolute path to the directory that contains the talks (see

“create a new talk” section). You have to update this value if you change the location

of the directory named NAODirectory or if you rename this directory.

•DefaultLanguage: the default language used by the robot when starting (”French”,

”English”, ...). If the language is changed by the user, the robot will automatically

switch back to the default language if nobody is around.

•doReposition: switches On or Off (On if value equals 1, Off if 0) the repositioning

mechanism of the robot.

•UseVoiceReco: switches On or Off (On if value equals 1, Off if 0) voice recognition

for selecting presentations.

•NaoqiLogging: switches On or Off (On if value equals 1, Off if 0) logging of infor-

mation from the robot. To be used mostly for debugging purposes or when trou-

bleshooting issues, deactivate otherwise as it makes quite intensive usage.

•VoiceSpeed: Allows to modify the pronunciation speed of the robot. The value is

expressed as a percentage of the standard speed. Default is 100%, allowed values

go from 50% (slower) to 400% (faster).

•StartWithMiddleTactile: Allows you to specify if the presentation in NaoPresen-

terLight can start with the touch sensor in the middle of Nao’s head or not. The

value is 0 for no, 1 for yes.

•StartWithPeopleDetection: Allows you to specify if the presentation in NaoPresen-

terLight can start with face detection or not. The value is 0 for no, 1 for yes. It is

possible to combine face detection with touch sensor.

•WaitAfterPresentationFinished: If face detection is enabled, it is important to put

a value in this ﬁeld. This is the time that Nao will wait after a presentation (in Nao-

PresenterLight) before redoing face detection. The value is in ms, so 10 seconds

corresponds to 10,000.

•StartWithPeriodicTime: Specify if the presentation in NaoPresenterLight can start

every X seconds. The value is 0 if you do not want to use it, otherwise it’s the time

in ms. 10,000 will mean that Nao starts the presentation every 10 seconds.

WARNING: In all the XML ﬁles, do not put space before and after the values. The name

of your ﬁles (XML, pictures, sounds, ...) must not contain spaces in their names.

2.5 Autonomous life conﬁguration

The ﬁle passiveSentence.xml, contains the sentences said by NAO during the autonomous

life. You can change these sentences by modifying this XML ﬁle. This is what it can look

like:

< sen te nce >

< lan gu age c ategor y ="French">

<say >N’ayez pas peur ,approc hez vous ,je ne mord pas .Je n ’ai pas ´e

t´e programm´e pour ¸c a! < / say >

< say > Eff ec tue r l ’accueil ici ,c’est un ho nneur pour un petit robot

comme moi ! < / sa y >

<say >J’aime ce boulot de pr ´e sentateur , ¸ca change de la danse . </ say >

</ language >

< lan gu age c ategor y ="English">

<say > Hey,come closer .Don ’t worry I don ’t bite ,I haven ’t been

pr ogra mm ed for it . </ say >

<say >I feel honored to welcome people like you . </ say >

<say >I like this pre senter job ,it ch anges from danses . </ say >

</ language >

< sen te nce >

During autonomous life, NAO will say randomly one of these sentences every 10 seconds

if there are no people detected.

6 Nao Presenter- V2.1.7

2.6 Default pictures

In the main program directory, you will also ﬁnd images that are used in the program:

•default.png is the image displayed when the program is not able to locate an image

(default image of a talk).

•In the folder curseur, you have some images like curseurDefault.png,curseur1.png,

curseur2.png,curseur3.png,curseur4.png et curseur5.png.

3 Creating a new presentation

All the information regarding the presentation are stored in the same directory, that we

call NaoDirectory. Normaly a NaoDirectory has been deployed when you installed the

software. The folder contains some example presentations , that you can try or modify.

NaoDirectory contains a ﬁle named architecture.xml, two pictures and a subdirectory for

each presentation.

Here is a an overview of the NaoDirectory structure:

Figure 3: Overview of the ﬁles in NaoDirectory

3.1 Architecture ﬁle

This ﬁle list all the presentation available and the path. Here is an example of an architec-

ture ﬁle.

<? xml version =" 1.0 " encoding =" UTF -8 " ? >

< rep osito ry >

< b ack grou ndI mage > image1.png </ bac kgr oun dIm age >

<welcomeImage>image2.png </welcomeImage>

<nameRep>presI ntro </ na meRep >

<nameXml>presentation.xml </ n ameXml >

</introduction>

<nameRep>presNao</ nam eRep >

<nameXml>presentation.xml </ n ameXml >

<imgPres>robotn ao .jpg </ imgPres >

< im gPre sSel ecte d > robotn aoS .jpg </ imgPre sSe lec ted >

</presentation>

<nameRep>presGR</ nameRep >

<nameXml>presentation.xml </ n ameXml >

< i mgPr esSe lect ed > logo_G RS .png </ imgP res Sel ect ed >

7 Nao Presenter- V2.1.7

</presentation>

</ repo sito ry >

3.1.1 Background pictures

< b ack grou ndI mage > image1.png </ bac kgr oun dIm age >

<welcomeImage>image2.png </welcomeImage>

The ﬁrst line deﬁnes the picture to be displayed when there is nobody in the ﬁeld of view.

The name image1.png can be modiﬁed, but it has to point to an existing ﬁle in NaoDirec-

tory.

The second line deﬁnes the picture to be displayed when the robot has detected someone

but the interaction has not started yet. The name image2.png can be modiﬁed, but it has

to point to an existing ﬁle in NaoDirectory.

WARNING: All pictures must be in JPG, PNG or GIF format. They will be displayed in

fullscreen, so their ratio and resolution have to be adapted by the user to the screen used.

3.1.2 Introduction

<nameRep>presI ntro </ na meRep >

<nameXml>presentation.xml </ n ameXml >

</introduction>

The element allows you to deﬁne which presentation folder and ﬁle should be used when a

user is detected before getting to the selection screen. There can be only one introduction.

3.1.3 Presentations

<nameRep>presNao</ nam eRep >

<nameXml>presentation.xml </ n ameXml >

<imgPres>robotn ao .jpg </ imgPres >

< im gPre sSel ecte d > robotn aoS .jpg </ imgPre sSe lec ted >

</presentation>

This element deﬁnes a presentation folder, main ﬁle and associated pictures:

•nameRep is the name of the folder containing the ﬁles for this presentation.

•nameXml is the name of the ﬁle that describes the presentation. It has to be in the

folder deﬁned above.

•imgPres is the image displayed during the selection by the user when the pointer is

not on the image.

•imgPresSelected is the image to be displayed during the selection when the pointer

is on the image . Typically it is a colorized version of the previous one.

WARNING: Only the ﬁrst 6 presentations are taken into account and displayed on the

selection screen. The user has to adapt the image ratios and dimensions to make them

display properly on their screen. They will be displayed on the screen by order of deﬁni-

tion.

3.2 Presentation folder

Each presentation folder contains the following ﬁles:

•A main presentation ﬁle which name is deﬁned in architecture.xml (by default it is

called presentation.xml)

8 Nao Presenter- V2.1.7

•An image displayed on the selection screen (associated to the tag imgPres in ar-

chitecture.xml)

•An image displayed on the selection screen when a presentation is selected (asso-

ciated to the tag imgPresSelected in architecture.xml)

•For each language, an XML ﬁle describing the content of the presentation.

•1 or more PowerPoint presentations

•(optional) one or more sound ﬁles (WAV or MP3)

3.2.1 Main presentation ﬁle

Here is an example of the main presentation ﬁle:

<? xml version =" 1.0 " encoding =" UTF -8 " ? >

< lan gu age c ategor y ="French">

< spe echFi le > presentationFR.xml </ speechFil e >

</ language >

< lan gu age c ategor y ="English">

< spe echFi le > presentationEN.xml </ speechFil e >

</ language >

</presentation>

It speciﬁes for each language that the robot can use which presentation ﬁle to use. Pos-

sible languages are: French, English, Spanish, German, Italian, Chinese, Japanese, Ara-

bic, Russian.

WARNING: Languages have to be installed on the robot. Usually Nao comes with 2

languages: English and an extra language.

3.2.1.1 Selection with voice recognition

It is possible to start a presentation using voice recognition. For this you need to activate

the option UseVoiceReco in the conﬁguration ﬁle and add keyword tags for the presen-

tations that you want to trigger containing a list of keywords separated by semicolons (for

each language), for instance:

<? xml version =" 1.0 " encoding =" UTF -8 " ? >

< lan gu age c ategor y ="French">

< spe echFi le > presentationFR.xml </ speechFil e >

<keyword>nao ;robot </ keyword >

</ language >

< lan gu age c ategor y ="English">

< spe echFi le > presentationEN.xml </ speechFil e >

<keyword>nao ;robot </ keyword >

</ language >

</presentation>

In this example, during the selection screen, if the user says one of the keywords ”nao” or

”robot”, this presentation will be started.

WARNING: Each presentation must have its own set of keywords. It is strongly advised

to deactivate speech recognition in noisy environments to avoid unwanted triggering of

presentations.

3.3 Description ﬁle

This ﬁle describes the different actions to be performed during a presentation : which

PowerPoint ﬁle should be opened, what to say, which movement to execute.

9 Nao Presenter- V2.1.7

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