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The Fascinating World of NAO          Tasha CARL           @imifos
The Fascinating World of NAO          Tasha CARL           @imifos
Tasha CARL ■   Freelance since 1997 ■   Specialized in Java EE Information Systems ■   Brussels JUG Leader (brujug.be) ■  ...
Disclaimer and Copyright I am NOT an employee of Aldebaran Robotics (the maker of NAO) nor in any kind related to this com...
NAONAO (pronounced now) is an autonomous,programmable humanoid robot developed byAldebaran Robotics, a French companyheadq...
History ■ Development began in 2004, seven prototypes of Nao   were designed between 2005 and 2007. ■ In March 2008, the f...
Demo!
NAOs                       HARDWARE                     Currently NAO is        Open-Source Software / Close-Source Hardware
Configuration                 Connectivity:                USB, LAN, Wifi
Motors and JointsMultiphase motors – Have to stay undervoltage to hold position (stiffness)!25 Degrees of FreedomDoF = The...
Inertial Unit and Gravity Center 2 x 1 axis gyrometer 1 x 3 axis accelerometer The inertial unit is located in the torso w...
Contact Sensors              Feet                     Head      Hands
Optical Devices2 HD cameras, no depth sensor(yet).It is possible to use OpenCV onNAO. Open Source ComputerVision Library i...
Computing UnitNAO V. 4.0■ ATOM Z530 1.6GHz CPU■ 1 GB RAM■ 8 GB flash memory■ 4 to 8 GB flash memory  dedicated to user pur...
NAOs        SOFTWARE
Topology1) Embedded Software,running on the motherboardlocated in the head of NAO,allowing autonomousbehaviors.2) Desktop ...
Embedded SoftwareOpenNAO is an embeddedGNU/Linux distributionbased on Gentoo, specificallydeveloped to fit the NAOrobot ne...
What and Where? … EmbeddedEmbedded (i.e. on the robot) ■ Python directly ■ Python via Choregraphe ■ C++ directly ■ High-le...
What and Where? … DesktopDesktop■ Python via NAOqi Network Proxy   (native lib)■ C++ via NAOqi Network Proxy   (native lib...
NAOsimNAOsim allows you to launch asimulated NAO moving in a virtualworld.Supports most of NAOs sensors.
ChoregrapheLets see this live...             Important: Choregraphe scripts are executed directly on the NAO              ...
Python and C++ ExamplesLets see this live...
NAOs        DEVELOPER PROGRAM AND              COMMUNITY
NAO Developer Program ■ Cool and creative developer community ■ http://developer.aldebaran-robotics.com ■ Very special €€€...
More...? ■ NAO Developer User Groups ■ Support for events ■ Search NAO on YouTube and enjoy! ■ Blogs and independent open-...
Q&A
Devoxx 2012 - The Fascinating World of NAO
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Devoxx 2012 - The Fascinating World of NAO

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Devoxx 2012 - The Fascinating World of NAO

  1. 1. The Fascinating World of NAO Tasha CARL @imifos
  2. 2. The Fascinating World of NAO Tasha CARL @imifos
  3. 3. Tasha CARL ■ Freelance since 1997 ■ Specialized in Java EE Information Systems ■ Brussels JUG Leader (brujug.be) ■ Belgian NAO Technology User Group founder (ntug.be) ■ Random Hacks Of Kindness (RhoK.be) team ■ DEVOXX 2012 team / DEVOXX 4 Kids team ■ NAO Developer Program member ■ Twitter @Imifos ■ Github.com/imifos ■ www.lucubratory.eu
  4. 4. Disclaimer and Copyright I am NOT an employee of Aldebaran Robotics (the maker of NAO) nor in any kind related to this company. The content of this presentation, this session in general and all my statements do NOT represent in any kind a testimony made by Aldebaran Robotics. All mechanical drawings and schematics in this presentation are under copyright by Aldebaran Robotics. I have been granted permission by Aldebaran Robotics to show this information. Slides published with the permission of Aldebaran Robotics.
  5. 5. NAONAO (pronounced now) is an autonomous,programmable humanoid robot developed byAldebaran Robotics, a French companyheadquartered in Paris (Yes, We Europeans can!).■ Offices in Boston, Shanghai and Paris■ 230 employes and growing■ 3000++ NAOs in 70 countries around the world■ 400++ NAOs used in universities and labs■ F/OSS, except some modules
  6. 6. History ■ Development began in 2004, seven prototypes of Nao were designed between 2005 and 2007. ■ In March 2008, the first production version was released: the Nao Robocup Edition. ■ Mid-2009, the Academic Edition (V3+) became available for Universities and Labs. ■ In May 2011, Aldebaran announced that NAOs controlling source code would go open source. ■ In June 2011, Aldebaran raised US$13 million in a round of venture funding. ■ In December 2011, Aldebaran launched the Nao Next Gen.
  7. 7. Demo!
  8. 8. NAOs HARDWARE Currently NAO is Open-Source Software / Close-Source Hardware
  9. 9. Configuration Connectivity: USB, LAN, Wifi
  10. 10. Motors and JointsMultiphase motors – Have to stay undervoltage to hold position (stiffness)!25 Degrees of FreedomDoF = The number of independentparameters that define the configuration of asystem.Example: the position of a rigid body in space isdefined by three components of translation andthree components of rotation, which means that ithas six degrees of freedom.
  11. 11. Inertial Unit and Gravity Center 2 x 1 axis gyrometer 1 x 3 axis accelerometer The inertial unit is located in the torso with its own processor. The output data enables an estimation of the torso speed and attitude (Yaw, Pitch, Roll → getCurrentPosition()=sitting,standing). Algorithm to compute the torso Angle from accelerometers and gyrometers to verify thats inside the inertial body (→ Fall Detection).
  12. 12. Contact Sensors Feet Head Hands
  13. 13. Optical Devices2 HD cameras, no depth sensor(yet).It is possible to use OpenCV onNAO. Open Source ComputerVision Library is a library ofprogramming functions mainlyaimed at real-time computer visionprocessing, originally developed byIntel. The library is cross-platformand open-source.
  14. 14. Computing UnitNAO V. 4.0■ ATOM Z530 1.6GHz CPU■ 1 GB RAM■ 8 GB flash memory■ 4 to 8 GB flash memory dedicated to user purposes■ OpenNAO, a GNU/Linux distribution based on Gentoo■ Head to Body: USB■ Body-Parts: I2C (serial)
  15. 15. NAOs SOFTWARE
  16. 16. Topology1) Embedded Software,running on the motherboardlocated in the head of NAO,allowing autonomousbehaviors.2) Desktop software,running on your computer,allowing creation of newbehaviors, remote controland simulations.
  17. 17. Embedded SoftwareOpenNAO is an embeddedGNU/Linux distributionbased on Gentoo, specificallydeveloped to fit the NAOrobot needs.NAOqi is the main software(daemon) that runs on therobot and controls it.
  18. 18. What and Where? … EmbeddedEmbedded (i.e. on the robot) ■ Python directly ■ Python via Choregraphe ■ C++ directly ■ High-level via NAOqi proxies. ■ Low-Level via direct device and stream access.
  19. 19. What and Where? … DesktopDesktop■ Python via NAOqi Network Proxy (native lib)■ C++ via NAOqi Network Proxy (native lib)■ Choregraphe■ Java, .NET, Matlab etc via abstraction layer to the NAOqi Proxy.
  20. 20. NAOsimNAOsim allows you to launch asimulated NAO moving in a virtualworld.Supports most of NAOs sensors.
  21. 21. ChoregrapheLets see this live... Important: Choregraphe scripts are executed directly on the NAO (and not on the desktop via network/proxy).
  22. 22. Python and C++ ExamplesLets see this live...
  23. 23. NAOs DEVELOPER PROGRAM AND COMMUNITY
  24. 24. NAO Developer Program ■ Cool and creative developer community ■ http://developer.aldebaran-robotics.com ■ Very special €€€ offer to buy NAO! ■ Licenses to all software ■ Access to NAOStore (App Store) ■ Help and support by ARs developers ■ Cool and responsive community management ■ Great developer events
  25. 25. More...? ■ NAO Developer User Groups ■ Support for events ■ Search NAO on YouTube and enjoy! ■ Blogs and independent open-source projects ■ …. in short... a growing and flourishing international community.
  26. 26. Q&A

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