1 NAO robot hardware
1.1 IR
infrared emission angle of -60 ° ~ + 60 °, wavelength of 940nm.
1.2 ultrasound (sonar)
NAO can detect whether there is an obstacle in front of ~ 0.25, the detection angle 60 ° 2.55m, ultrasonic frequency of 49KHz.
1.3 sensor
1.3.1 touch sensor
touched, pressed across the contact sensor may be a contact sensor generates an electric signal start, thereby completing the input information to the robot.
head: after three front touch sensor.
Hand touch sensor, an impact sensor of the front foot portion (also cushion).
Chest: long press, press, and even the press.
Power: Press the button chest.
News IP Address: in the boot and networking, press the button chest.
Shutdown: in the boot state, press the button chest.
Independent living conditions: chest press twice button to enter or exit.
1.3.2 inertial sensors : measuring the physical state and the acceleration, comprising two gyroscopes, accelerometers 1.
1.3.3 position sensor (MRE magnetic encoder): measured joint position of the robot itself, 36.
1.3.4 Pressure sensor : each foot has four pressure sensor for determining the position of the center of gravity of each foot. During walking, NAO center of gravity is not making adjustments to maintain the body balance.
1.4 a light emitting diode (LED)
surrounding the sensor head: 12 LED
ear: 2 * 10 16 blue LED, 2 * 8 eye full color LED, chest and feet buttons have a full-color RGB LED.
1.5 actuator: It includes a DC motor mounted at each joint, an ultrasonic transmitter, LED and the like.
2 NAO articulation model
2.1 using the coordinate system of
a Cartesian coordinate system, X-axis pointing to the front of the body, Y by the right to left direction, Z-axis is vertically upward direction.
2.2 articulation classified
in the Z axis direction is referred to as yaw rotation (Yam), the Y-axis direction of the rotation is called the pitch (Pitch), is rotated in the X-axis direction is referred to as a roll (Roll).
2.3 naming rule articulation
joint name of member name + action names of two parts, for example, about the head rotation joint called HeadYam, bow rise to achieve joint named HeadPitch.
some simple operation by the movement of the robot to complete a joint, a complex operation required by the multi- joints work together.
2.4 articulation range
of the head are two degrees of freedom control torsional Nao head, wherein the control head in the Z-axis joint twisted range -120 ° to 120 °, the range of motion around the Y-axis of -39 ° to 39 ° ;
about five degrees of freedom and each arm is symmetric, the control range of the Y-axis movement of the front and rear shoulder of -120 ° to 120 °, about the Z-axis motion control range is 0 ° to 95 °,
shoulder control X torsion axis range of -90 ° to 0 °,
the elbow in the range of Z axis motion control of -120 ° to 120 °,
wrist X-axis of the torsion control range -105 ° to 105 °;
left hand Nao have a degree of freedom, which controls Nao hand opening or closed;
Nao left leg hip joint and the ankle in addition to the rest of the outer joint showed symmetric distribution,
the left leg in the hip joint control of the longitudinal movement of the Y-axis -104.5 ° to 28.5 °,
the left leg in the hip control the range of motion around the X-axis of -25 ° to 45 °,
left ankle joint before and after the control of the Y-axis movement of -70.5 ° to 54 °,
Left-side movement of the control range of the X-axis of -45 ° to 25 °,
the range of control right hip leg motion around the Y-axis is -104.5 ° to 28.5 °,
the right leg in the hip joint control of the movement about the X-axis of -45 ° to 25 °,
right ankle joint in the control range of the Y-axis back and forth movement of -70.5 ° to 54 °,
right ankle joint control of the movement about the X-axis of -25 ° to 45 °;
knee leg portion control in the Y-axis range of motion of -5 ° to 125 °;
the presence of a controlled degree of freedom in the Y-axis hip movement, its movement range of -65.62 ° to 42.44 ° hip.
2.5 NAO degree of freedom
The number of independently movable joint robot called freedom of movement of the robot. The head has two joints, can be done deflection (Yam) and pitch (pitch), and therefore, the degree of freedom for the head 2. The
body has 26 degrees of freedom.
3 NAOqi framework
NAOqi is the main software NAO robot runs were carried out in the main program NAO NAOqi framework.
NAOqi API provides the core operation of the robot, provides thousands of functions in the control of movement, voice, video, etc., to meet the robot
resources, events, parallel, generally require synchronization aspects. Although NAOqi operation, audio, video and other differences very different modules, NAOqi using a junction
structure consistent data model to represent information as a call different module designs same programming model, with each module ALMemory information sharing the same
structure, these We have reduced the complexity of the NAO programming.
4 remote login NAO
4.1. Use WinSCP download upload files
to start WinSCP, select the SCP protocol in the login window, enter the NAO's IP address, port number select 22, the user name and password are filled nao, click on the "Login" button, enter WinSCP main interface .
After logging NAO initial directory "/ var / persistent / home / nao", with the same content "/ home / nao" directory, the user has read and write access to the directory nao. In the WinSCP through
inter-local files and files NAO robot simple "drag and drop" operation can achieve upload and download files. Select the files in the directory, right-click, the pop-up menu, you can delete, rename
name, change file attributes and other operations.
4.2 Using Putty telnet NAO
start Putty , enter the robot IP address in the configuration window, port input 22 (SCP protocol port), click "Open" button in the pop-up window to enter a user name nao and password nao, enter
the NAO remote control.
Monitoring NAOqi
NAOqi is the main software robots run. NAOqi not run any robot's behavior can not be completed. In the robot startup, NAOqi will start automatically during startup script /etc/init.d/naoqi NAOqi of management.
NAOqi control commands include the following four: nao start, nao stop, nao restart and nao status.
(1) nao start command: start NAOqi.
(2) nao stop command: Stop NAOqi.
(3) nao restart command: Restart NAOqi.
(4) nao status command: NAOqi display running status.
4.3.Python libraries installed
pip is commonly used in Python package management tool, the NAO robot preinstalled Python2.7 installation package, pip is not installed by default.
(1) Download the installation file pip. Download: https: //pypi.python.org/packages/source/p/pip/pip-10.0.1.tar.gz.
(2) will be downloaded to the local pip-10.0.1.tar.gz using WinSCP uploaded to the NAO / home / nao directory.
(3) login Putty, su command to switch the user by the nao root, password is root. the root user has write access to the "/ usr / lib / python2.7 / site-packages" directory.
(4) Run the following commands on NAO:
the tar -xzvf pip-10.0.1.tar.gz
CD-pip 10.0.1
Python setup.py the install
the tar solution is linux compression command, will run the installation files to pip under /home/nao/pip-10.0.1 directory, file included pip installation file setup.py. Finally
python setup.py run to complete the installation. After the installation is complete, you can see the newly installed pip relevant directory under NAO Python library directory "/usr/lib/python2.7/site-packages".