NAO robot operation basis

What is NAO?

Nao is a commercially available humanoid robot built by Aldebaran who has 25 degrees of freedom and more than a hundred sensors throughout its body.It can imitate a variety of human movements jump a variety of dances, its hands can grab 300 grams of heavy objects, equipped with binocular vision system can do face tracking and object recognition, chest equipped with ultrasonic sensors and feet equipped with collision sensors, can detect obstacles ahead, make the corresponding road strength planning. The soles of the feet are equipped with pressure sensors to walk on uneven ground and automatically adjust the center of gravity. Equipped with microphones and speakers can do sound source location and human-machine voice exchange. NAO is equipped with a voice module that can speak multiple languages, such as Chinese, English, French, Japanese, etc. It can be programmed on multiple platforms such as Linux, Microsoft, or MacOS.

The basic step in using the nao robot.

Requires

During the first steps with NAO, you will need:

A NAO robot	A Computer	A network cable	A recharger
The most basic object	For controlling robots	For connecting robots	As the name implies

And you need:

• enough space around you to unbox the robot

• some space on the floor, to let the robot stand and move.

Start the NAO robot

1. Make sure NAO is on a flat surface, providing enough space to move around.
2. Tap the Chest Button for 0.5 seconds.
3. Waiting…….

The process is as follows:

The Eye,the chest and the top skull LEDs fade in, smoothly and repeatedly, from Black to White.

A progress bar is displayed on the Ear LEDs:

Progression bar	Means
0 %	NAO is in the early boot step, initializing the hardware.
30 %	Firmwares are updating.
50 %	HAL is starting.
100 %	NAOqi is starting.

Then NAO says “OGNAK GNOUK”.

If you think he’s moving too much, you can double tap on his chest button.

Tips:Do not long press the robot's chest when it is turned on

Connect the NAO robots

1. You need to connect the robot to your computer, router, or other network device using an Internet cable.
2. Wait for a moment, then click the robot’s chest button to get the IP or get it directly from the network device.
3. Then you can control the NAO from this IP.

Power off the robot

1. Put the NAO in a safe position
2. Hold down the chest button for about three seconds, and the robot will shut down
3. If you run into other problems, you can press and hold the chest button for 8 seconds to force the robot to shut down.

Other notes

VERY INPORTANT! VERY INPORTANT! VERY INPORTANT!

1. The robot must be charged at all times.
2. Robots should be handled with care.
3. When you’re done with the robot, put it in the appropriate box
4. When the robot is moving, it must be protected to prevent it from falling

Flash the Robot

When the robot operating system is damaged or needs to brush other systems

Upgrading state

Step 1

For a while, the Eye LEDs and the Status LEDs fade in, smoothly and repeatedly, from Black to White.

Step 2

• The Status LEDs fade in, repeatedly, from Black to Blue.
• The progress is displayed on the Ear LEDs:

Ear LEDs	Meaning
A - The front half-circle is blinking.	Checking integrity of the image to be flashed.
B - Animation like a progress bar.	The OS image is being flashed.
C - The rear half-circle is blinking.	Checking integrity of the flashed data.
D - Factory reset onlyThe front and rear half-circles are alternately blinking.	Restoring factory settings.

Step 3

The Status LEDs is still fading in, smoothly and repeatedly, from Black to Blue, while all the steps of a Switching on are performed.

• A fully charged robot
• NAO system image(xxx.opn)
• Choregraphe APP or an USB which larger or equal to 512MB.
• NAO Flasher (If you use storage containers)

Flashing(USB,recommend)

Requires

Requires
A fully charged robot
Get a USB stick: - unformatted, - larger or equal to 512MB.If necessary
Get a NAO Flasher according to the Operating System of your computer
Get the NAO system image.xxx.opn

Writing the image on the USB stick

Step	Action
1.	Insert your USB stick in your computer.
2.	Launch the flasher executable.(Use macos as an example)
3.	Choose File > Open image (Ctrl+O) or click the Browse button to select the image you want to flash.
4.	I not yet done, select your USB stick from the list.If your USB stick does not appear in the list, try the Refresh button after inserting it in your computer.
5.	Optionally, check the Factory reset option.Warning Factory Reset will remove all the data from your robot, please backup your data before running the program.
6.	Click the Write button to start the process
7.	When the process is completed,Remove the USB stick.

You need to Launching NAOFlasher with administrator privileges

Flash the NAO

Step	Action
1.	Shutdown the robot.
2.	Plug the USB stick you previously flashed into the robot USB port.
3.	Press and hold the robot Chest button for about 5 seconds until it gets blue.
4.	Wait until NAO’s chest button doesn’t light up

Appendix

Reusing a formatted USB stick

Linux

• Open your CLI as an administrator.

• Use the following command to check your disk insertion and find your target disk:(Assume your target is X)

  fdisk -l

• The fdisk interface is displayed:

  fdisk /dev/sdX
  #-----------------#
  # After entering the fdisk interface, enter the following commands in sequence:
  d 	# Delete a partition
  [Partition ID] 	# Number of the partition to be deleted
  w 	# Writes the partition table to disk and exits

MacOS

• Open your CLI as an administrator.

• Use the following command to check your disk insertion and find your target disk:(Assume your target is X)

  diskutil list

• You can also check the disk status further:

  diskutil info diskX

• Unmount all partitions

  diskutil unmount /dev/diskX
  diskutil unmountDisk /dev/diskX

or Use the system disk management tool to uninstall it.

Windows

• Open your cmd as an administrator.
• Enter diskpart to go to the disk management command-line tool
• Then follow the table below:

Step	Action
1.	Use list volume to get all the volumes present on your computer. (Assume your target is X)
2.	Use select volume X to replace X with your drive letter.This will enable you to do actions on the drive.
3.	Use clean to erase all data and partitions on the drive. You can’t undo this!
4.	Then use exit to exits the DISKPART. You may now try the flasher again.

Main usages of the Chest button

When NAO is off

You may …	To …	For further details, see …
Press once	Turn on	Turning NAO on
Press and hold for 4 seconds	Update the firmware	Upgrading my NAO

When NAO is on

You may …	To …	For further details, see …
Press once	Get IP address,and Read notifications	Requesting technical information
Press again	Skip a message
Press twice	Set the life off and on	Switching Autonomous life on and off
Press and hold for 3 seconds	Shut down	Turning NAO off
Press and hold for 8 seconds	Request a Forced switch off	Emergency turn off

Chest LED Note

Status LEDs	Severity
Green	NAO gives you some feed-back by an Info notification about an ongoing action.
Yellow	Warning notification occurs when an issue requires your attention and/or action. NAO is still usable but, it may either run in a degraded mode in which some features may be not available or it may soon become unusable if you don’t solve the problem.
Red	Error notification occurs when one or all functionality(ies) of NAO become unusable.

List of notifications

Boot process

#	Message	Tips	Severity
10	I canceled my system update. The system image was invalid. I am still running version <*x.y.z*>.	The file containing the system image seems unusable, try again to retrieve the relevant system file.
11	I canceled my system update. The system image was invalid. I am still running version <*x.y.z*>.	The file containing the system image seems unusable, try again to retrieve the relevant system file.
100	I successfully updated my system.I am now running version <*x.y.z*>.
101	I canceled my system update. The system image was not compatible with my upgrade program.I am still running version <*x.y.z*>.	The system image used for the update is not compatible with your robot hardware. Check what system image version supports your robot version and model, and retry with one of the supported system image version.
102	I canceled my system update. The system image was not compatible with my processor. I am still running version <*x.y.z*>.	The system image used for the update is not compatible with your robot hardware. Check what system image version supports your robot version and model, and retry with one of the supported system image version.
103	I canceled my system update. The system image was not compatible with my body. I am still running version <*x.y.z*>.	The system image used for the update is not compatible with your robot hardware. Check what system image version supports your robot version and model, and retry with one of the supported system image version.
104	I canceled my system update. The system image was corrupted. I am still running version <*x.y.z*>.	The system image is corrupted. Try downloading it again then restart the update process.
105	I canceled my system update.My current system seems corrupted. I am still running version <*x.y.z*>.	The update program cannot recognize your robot hardware. Some changes done on the hardware damage it. Contact the support.
110	I could not update my system. Try to update me again.
111	I could not update my system. Try to update me again.
120	I successfully completed my factory reset.All my data and settings have been reset.
200	I couldn’t complete my factory reset.I may still have some data or settings from before.Retry a factory reset to remove all my data and settings.	Retry the update with factory reset enabled.If the problem persists, contact the support.
201	I couldn’t complete my factory reset.I may still have some data or settings from before.Retry a factory reset to remove all my data and settings.	Retry the update with factory reset enabled.If the problem persists, contact the support.
202	I couldn’t complete my factory reset.I may still have some data or settings from before.Retry a factory reset to remove all my data and settings.	Retry the update with factory reset enabled.If the problem persists, contact the support.
203	I successfully completed my factory reset. All my data and settings have been reset.
204	I can’t access some of my data.My user partition seems corrupted. Please try to reboot me to fix the problem.	The memory space dedicated to the user is not accessible due to some hardware failure.Try to reboot the robot.If the problem persists, contact the support.
205	I can’t access some of my data.My user partition seems corrupted. Please try to reboot me to fix the problem.	The memory space dedicated to the user is not accessible due to some hardware failure.Try to reboot the robot.If the problem persists, contact the support.
214	I can’t access some of my data.My internal partition seems corrupted. Please try to reboot me to fix the problem.	The memory space dedicated to internal usage is not accessible due to some hardware failure.Try to reboot the robot.If the problem persists, contact the support.
215	I can’t access some of my data.My internal partition seems corrupted. Please try to reboot me to fix the problem.	The memory space dedicated to internal usage is not accessible due to some hardware failure.Try to reboot the robot.If the problem persists, contact the support.
400	I can’t move. My current system is not compatible with my body. Retry to update me with a compatible system image.	The current system image of your robot is not compatible with your robot hardware. Check what system image version supports your robot version and model, and retry with one of the supported system image version.
401	I can’t move. My current system is way too old for my body. Retry to update me with a more recent system image.	The current system image of your robot is not compatible with your robot hardware. Check what system image version supports your robot version and model, and retry with one of the supported system image version.
402	I can’t move. My current system is way too recent for my old body. Retry to update me with a less recent system image.	The current system image of your robot is not compatible with your robot hardware. Check what system image version supports your robot version and model, and retry with one of the supported system image version.
404	I can’t move. I can’t access my body. Please try to reboot me to fix the problem.	The head does not find or recognize its body. The robot is unusable.Try to reboot to fix this.
405	I updated some of my firmwares.Please reboot me to finish the update.	Some new firmwares have been installed but will not be enabled until a reboot of the robot. Turn off the robot using the standard procedure, then start it again. If this warning occurs on every boot, it means: either some hardware is too old and cannot be updated; or some hardware is broken and cannot be updated. In either case, you should contact the support.
500	I can’t connect to the cloud services. My head identifier is missing. Please contact support.	Contact the support.
501	I can’t connect to the cloud services. My system date is wrong. Please ensure that I am connected to the Internet and reboot me to fix the problem.	Make sure your robot is connected to the Internet then restart it to update the date.
600	I’m not safe like this. Please help me sit or crouch.	The robot is not in a good position to start autonomous life. Put it in sitting or crouching position and it will start life.

Diagnosis - NAO

#	Message	Tips	Severity
710	I can’t move anymore. I detected an error on of my vital devices: <*list of devices*>. Please try to reboot me to fix the problem.	This will have an impact on your robot,see Diagnosis effect .If the problem persists after a reboot, contact the support.
711	I detected an error on of my devices: <*list of devices*>. Please try to reboot me to fix the problem.	This will have an impact on your robot,see Diagnosis effect .If the problem persists after a reboot, contact the support.
712	I detected a system error: one of my software does not run properly. Please try to reboot me to fix the problem.	If the problem persists after a reboot,contact the support.
713	I can’t move anymore. I detected an error on of my vital devices: <*list of devices*>. Please try to reboot me to fix the problem.	This will have an impact on your robot, see Diagnosis effect .If the problem persists after a reboot, contact the support.
714	I detected an error on of my devices: <*list of devices*>. Please try to reboot me to fix the problem.	This will have an impact on your robot, see Diagnosis effect .If the problem persists after a reboot, contact the support.
720	Some of my motors are getting hot in my . I will need to rest soon.	Robot motors are getting hot or are already too hot to be able to move. Put the robot in crouch and unstiffened and wait for few tens of minutes to let its motors cool down before you can use it again.
721	A part of my body cannot move anymore. Some of my motors are too hot in my .Please let me rest for a while.	Robot motors are getting hot or are already too hot to be able to move. Put the robot in crouch and unstiffened and wait for few tens of minutes to let its motors cool down before you can use it again.
722	I can’t move anymore. Some of my motors are too hot in my . Please let me rest for a while.	Robot motors are getting hot or are already too hot to be able to move. Put the robot in crouch and unstiffened and wait for few tens of minutes to let its motors cool down before you can use it again.
723	Some of my motors are getting hot in my . I will need to rest soon.	Robot motors are getting hot or are already too hot to be able to move. Put the robot in crouch and unstiffened and wait for few tens of minutes to let its motors cool down before you can use it again.
724	Some of my motors are too hot in my . Please let me rest for a while.	Robot motors are getting hot or are already too hot to be able to move. Put the robot in crouch and unstiffened and wait for few tens of minutes to let its motors cool down before you can use it again.
725	My memory seems full. Please reboot me to fix the problem.	Robot RAM is full. Reboot the robot.
726	My memory seems full. Please remove some applications or data to make some room.	Robot user partition is full. Remove some applications or some data.
730	My head processor is getting hot. I will need to rest soon.	Robot head processor is getting or is already too hot. Shut down the robot for few tens of minutes.
731	My head processor is too hot. Please let me rest for a while.	Robot head processor is getting or is already too hot. Shut down the robot for few tens of minutes.

Battery - notifications

#	Message	Tips	Severity
800	I can’t access my battery. Please try to reboot me to fix the problem.	If the problem persists after a reboot, contact the support.
801	My battery will soon need charging.	The battery level reached 30%. See: Charging the battery .
802	My battery needs urgent charging.	The battery level reached 15%. See: Charging the battery .
803	My battery is totally empty. I’m shutting down.	The robot ran out of battery so it shut down. See: Charging the battery .
805	My battery is now fully charged.
806	I detected an unusual temperature on my battery. I’m shutting down. Please let me rest for at least 2 hours before rebooting me.	If the problem persists after 2 hours with the robot off, contact the support.
810	I failed to leave my charging station. Please help me to move away from it.

NAO Apps Store - notifications

#	Message	Tips	Severity
830	I have installed <*Name of the applications*>.
832	I have updated <*Name of the applications*>.
834	I have removed the application <*Name of the applications*>.
840	I have downloaded system version <*x.y.z*>. Reboot me to install it.

Robot backup tool - notifications

#	Message	Tips	Severity
900	I successfully backed up my data.
901	I couldn’t back up my data. My system version is not compatible with this operation. Please try to update me with a more recent version and try again.
902	I couldn’t back up my data. The files were not readable. Please try again.
903	I couldn’t back up my data. Connection with back up application was interrupted. Please ensure that I am connected to the network and try again.
920	I successfully restored my data.
921	I couldn’t restore my data. My system version is not compatible with this operation. Please try to update me with a more recent version and try again.
922	I couldn’t restore my data. The files were not writable. Please try again.
923	I couldn’t restore my data. Connection with back up application was interrupted. Please ensure that I am connected to the network and try again.