Generation Robots Nao Presenter User manual

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)
•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
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•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.
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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.
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•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 >
<doReposition>1</doReposition>
<UseVoiceReco>0</UseVoiceReco>
<NaoqiLogging>0</NaoqiLogging>
< 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 >
<StartWithPeopleDetection>0</StartWithPeopleDetection>
< W ai tA fterPre se nt at io nF inish ed >0 </ Wa it After Pr es en ta ti onFin is he d >
<StartWithPeriodicTime>0</StartWithPeriodicTime>
</ 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
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•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.
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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>
<introduction>
<nameRep>presI ntro </ na meRep >
<nameXml>presentation.xml </ n ameXml >
</introduction>
<presentation>
<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>
<presentation>
<nameRep>presGR</ nameRep >
<nameXml>presentation.xml </ n ameXml >
<imgPres>logo_GR.png </ im gPres >
< 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
<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
<presentation>
<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)
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•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 " ? >
<presentation>
< 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 " ? >
<presentation>
< 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