ALDEBARAN Robotics NAO User manual

User GUide

1
EN
Welcome to the NAO Community!
This guide will help you to get started with your NAO.

2
TABLE OF
CONTENTS

3
EN
04 /WHAT’S IN THE BOX
06 /WHAT YOU NEED TO USE YOUR NAO
08 /NAO OVERVIEW
12 / BEST PRACTICES
18 / OPENING THE BOX
20 /TURNING YOUR NAO ON AND OFF
22 /CONNECTING TO YOUR NAO
24 / INSTALLING THE SOFTWARE
28 /PLUGGING AND UNPLUGGING NAO’S USB KEY
30 / TROUBLESHOOTING
34 / FINDING OUT MORE ABOUT US

4
WHAT’S IN THE
BOX

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EN
1NAO
1SOFTWARE DVD
1BATTERY
1STANDARD CHARGER (1.4A)
10 SCREWS
4ADAPTOR (EU, US, UK, AUS)
1SPARE USB KEY
1USER GUIDE
OPTIONAL
HIGH-POWER CHARGER (2A)
SPARE BATTERY

6
WHAT YOU
NEED TO USE
YOUR NAO

7
EN
1ETHERNET CABLE
1ROUTER WITH WIFI CONNECTION
1COMPUTER WITH WINDOWS, MAC, OR LINUX
You can also find information on:
http://academics.aldebaran-robotics.com,
a username and password for this site has been provided in the DVD case.

8
NAO
OVERVIEW

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EN
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

11
EN
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

12
BEST
PRACTICES

13
EN
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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NAOT2/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 into
NAO’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.

15
EN
SAFE AREA
You 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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UNDERSTANDING 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-up
While 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.

17
EN
TEMPERATURE
OF THE MOTORS/HEAD
When 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.
Stifnessand motortemperature
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.
Quicklyreleasingthe stiffness
To remove stiffness on all joints, press twice
on the Chest button. (NAO may fall so make
sure you support him!)

18
OPENING
THE BOX