Aisoy1 V4 User Manual
Contents
1. specific position between O and 1 in specific seconds In this case the bot will be in position 0 5 after 1 seconds move eyebrows similar to previous one but for eyebrows e move eyes the same for eyelips Visual expression block change hearth color of to red green blue in secs no block write in mouth of botl text no block There are 2 visual expression blocks e change hearth This lend us change the heart color of our bot using RGB color codification Here the led will be in white after 1 seconds e write in mouth This block provides a mechanism to show a text in the mouth 10 Predefined emotions block set bot to Normal state Normal Sad Happy Angry Indifferent Surprise Disgust Reliet Reproach Pride Admiration Scared Sleep NoEmotion Language block set botl todos language to English With previous blocks you have all the ingredients to build expressions that simulate emotional states We have developed several for you You can explore them with Female voice First block in this category provides language definition capability You have a list of options for choice the language you want to speak to ASR the language you want Aisoy1 speaks TTS or both Languages available are English French and Spanish You can use set bot grammar block to define a word set you want Aisoy1 understands Because this is the most Als hello you have to2. registered for updating See section Register on chapter Botserver Coding your Aisoy1 Scratch editor overview Scratch editor is like a e 4 5 2 aa on scratch Display We could interact with it using specific blocks change sprites show webcam 6 Types or Category blocks 7 Specific blocks of selected category 8 Costumes To manage the different costumes of sprites 9 Sounds To manage the sounds to play at programm scripts 10 The most important thing in Scratch Programming area where we will put the different program blocks 11 Scene or background of Scratch display 12 Sprites To manage and select the different sprites of the current program Now we will introduce to Scratch the Aisoy Extension that includes the new blocks to interact with our Aisoy1 in the More blocks category Bloques Aisoy1 Connection blocks To connect the bot to Scratch only we need is to drag i the connect block to the script area and put it our connect Eu to ip Aisoy1 IP After cliking it we could see the green disconnect indicator of extension that informs it has connected one or more Aisoy1 disconnect block disconnects the robot Movement blocks move head horizontal of CR O 5 BUR le a move eyebrows of to in seconds no block move eyes of CA 0 5 BUR 1 Bete Muelle There are 3 movement blocks move head horizontal it makes the bot move head horizontally to a
3. User Guide Aisoy1 V4 Scratch Edition PO GOERE 2 Contents Introduction Who is this guide for What s in the box What s new on Aisoy1 V4 Overview Aisoy1 V4 ACDC Connector On Off Button Lights Wifi Adapter Mouth SD Card Getting started Turn on your Aisoy1 Booting process Connect to ethernet or wifi network Connect Aisoy1 to your computer How to start with Scratch tool Register your Aisoy1 Coding your Aisoy1 Scratch editor overview Bloques Aisoy1 Botserver Botserver overview Settings Wifi Understanding a little more your Aisoy1 AIROS Botserver managing your robot Aisoy1 capabilities Software updates Hardware O won nD Dn DOD ao 4a fF A A FP LP A WO WO WD OW 14 14 15 17 18 18 18 18 18 18 Introduction Hi welcome to the Aisoy1 V4 Scratchn Edition guide where you will learn everything you need to start enjoying your robot We re going to explain how to getting started with Aisoy1 and Scratch Then we will see the basics about its software and hardware Important This guide is alive we will keep it updated with your comments and suggestions please feel free to contact us if you consider that we must go deeper into any concept Who is this guide for You might be reading this document because You have recently bought an Aisoy1 V4 Scratch Edition and want to know everything about it before using it You own an Aisoy1 robot and want to know how to use it Somebody to
4. approximately Lights Several lights on the side give you information about the state of your robot Wifi Adapter Wifi Adapter has a light to show you if it is in use or not IMPORTANT wifi network can be affect to Aisoy1 V4 s performance Mouth Mouth is a oled screen with 128x64 resolution It is used for showing robot s state mainly in the turn on process SD Card For Aisoy1 V4 can be run it requires a SD Card with AIROS software inside Getting started Turn on your Aisoyt Aisoy1 only requires that you connect to electric power the ACDC transformer included and plug to ACDC connector Then you can turn it on The process can take between 2 and 5 minutes depending of time to connect to wifi or ethernet network or not find anyone Booting process First time you turn Aisoy1 on Aisoy1 boots making special steps to prepare the file system in order to use normally 1 Files The system prepares the definitive file system Heart becomes pink 2 Booting It configures normal boot process In the mouth will be printed the message Loading Heart becomes flickering in red Aisoy1 s normal boot process is as follow 1 Initial load Heart becomes pink OS is starting and searching for a network That process can be slow depending of the network 2 Inthe mouth will be printed the message Loading The system is preparing the services to start AIROS your robot s brain Heart becomes blue 3 Starting AIROS In
5. date your robot to the latest version When using the Botserver an icon will indicate when a new version is available and just with one click your robot will be upgraded That easy way to update your robot let us to improve continuously the software and let the users to have the best experience with Aisoy1 Hardware Aisoy1 has inside a microcontroller called Jetpack to manage sensors and actuators And it has computer called brain with the Aisoy software AIROS for give you all its potential as robot The brain is a Raspberry Pi which is powerful enough to compute all the robot needs As any robotic platform Aisoy1 contains many sensors and actuators that let him get information from the environment and also interact with it sensors e Camera in Aisoy1 s left eye there s an USB 3Mpx camera very useful iz for computer vision tasks e g like face and object recognition eo e Microphone located in the same board than the camera there s a microphone With it Aisoy1 robot can hear anything from human voices to any kind of sound or music 18 Accelerometer Using this sensor it is possible to know the robot s position in 3D It can be known in a very high precision the values of the x y and Z axis Touch sensors Aisoy1 integrates 3 small tactile sensors one on the back side of its head and the other two in both sides of its body They are used to interact with the robot e g you can cherish your robo
6. define it in Scratch Data block To 7 a phrase you should use e g good morning complex part we will explain with an example Make a List If you want your robot will be able to understand the word define a list called e g grammar and add the words you want In the example hello If you want Aisoy1 recognizes add to grammar Finally you can use that list in the grammar block as you see in the following picture grammar 2 good morning say EENES moving mouth block say one of the with moving mouth block There are 2 language blocks bot say Aisoy1 says specific text bot say one of the Aisoy1 says an aleatory word from the list Event blocks There are 3 event blocks e Touch This block will be executed when bot will be touched at left right sides or head we indicate it at the menu Then the next blocks will be executed Position In this case it will be activated with accelerometer values 0 1 2 3 and 4 Hears This will be activated after listening sentence Sentence could be an specific word by user when bot is in position 0 when bot ENF hears sentence 12 Code example when bot hears set bot 1 fit Happy pot JRE how are you MAE State mouth block 2435 In this example Aisoy1 says how are you and it change its face to a happy face each time Aisoy1 hears the word hello Botserver Botserver overview This sect
7. fault screen Here you can do the following e Change Aisoy1 s name AB e Indicate the serial number Set the language you can use by default See system s date and time Set the volume level e Update AIROS version e Reboot Aisoy1 Shutdown Aisoy1 Aisoy1 Registration Register your Aisoy1 is very easy Click on Register now You will see the following screen 5 aisa Welcome to your Aisoy1 Or kur Register your Alsoyi ee wrr 3 wwen ee Cer ous weve Introduce your email address and Aisoy1 s serial number Serial number is on the base of your robot and it likes this arXXXXXXXX You will receive an activation code in your mail Please introduce that in the following screen art u Welcome to your Aisoy1 e ty Aisoy i woon a weed o ii poy ER Cote the btp cote t D yes Ors Atat Cone a 16 If there isn t any error you will came back to Settings screen with your robot already registered If you have any problem during this process please contacta with us in our support area IMPORTANT this process requires internet access in your network Wifi x Welcome to your Aisoy1 Oh Settings Tone by w WE we wifi parameters Setup new Wifi ra wF sa i Use this option to select and connect to an available wireless network How to connect to a wifi network To connect to a wifi network you need to choice from the SSID list networks available and enter the password The
8. ion reviews all the configurable aspects available in the Botserver application for the Aisoy1 To access the application enter the IP address of the robot in the address bar of your browser For example if the address of the robot was 192 168 1 110 you would enter following in the browser address bar 192 168 1 110 Depending of the network you also use robot s name For example if robo s name is Peter you can use peter or peter local in the address bar instead the IP address The browser will then display the login page amp om Welcome to your Aisoy1 O i Enter the default username aisoy and password aisoy1 to display the Botserver configuration options Upon successful authentication you will see this page 14 a Welcome to your Alsoyi Beery Settings Four Aled a we Ama izer age Your Alsoyi 0 er _ a ge nn are nt nn nn 2 rac You will see several icons in the upper right corner of the page We will indicate the purpose of these icons from left to right 1 Update state of bot Clicking the icon will deliver the user to the update center Red indicates bot is not updated or update status cannot be checked at the time no internet connection server failure e Green indicates bot is updated to current version 2 Internet connection There are several sections in Botserver but the most important are Settings and Wifi Let we see both Settings This is the Botserver s de
9. ld you about this guide and you have decided to read it before buying an Aisoy1 You have arrived here by mistake but you feel curious about what s Aisoy1 D He j j What s in the box The box contains the following 1 Robot Aisoy1 with SD card and Wifi adapter 2 ACDC adapter 3 Quick guide What s new on Aisoy1 V4 4A Da Aisoy1 V4 is a programmable social robot Its social because it is designed for interacting with other robots and people using natural ways of communication N l Speak Aisoy1 has a voice recognition system and a text to speach system quicker than previous one Touch Aisoy1 has an optimized touch sensor network for knowing if you are touching it in its head or body Mouth Its mouth is an oled screen where it can show characters symbols and any kind of draw you can make with a 128x64 pixels of resolution Back We have re disegned Aisoy1 s back for doing it more compacted than V3 version and maintaining the accessibility to Raspberry ports Scratch It is programmable with Scratch online 2 0 tool Overview Aisoy1 V4 Eyelids Mouth Speaker Heart Touch Sensors On Off Button SD Card Lights ACDC Connector ACDC Connector Aisoy1 V4 requires to be connected to power using the ACDC transformer On Off Button On Off Button turns on off your robot For turning on your robot push it once For shutting it down you need to maintain it pushed 3 seconds
10. n t connect physically They only need to be at the same network ethernet or wifi to be able to communicate between Network can be yours at home or created with your mobile as hotspot How to start with Scratch tool When Aisoy1 and your computer are at the same network you can start with Scratch tool following the next easy steps Go to Scratch online using this link scratch mit edu and click on Create e Download the last template available on our online store It s free Save it on a directory of your computer In Scratch open the template you have downloaded doing click on Archive and then Upload from your computer Click on more blockes More Blocks Last step is introduce IP address on this block and click it e If connection is ok a pop up window informs you and yellow icon will change to green Also you should see all available blocks to code your Aisoy1 Alsoylv Extension connect IIH e EERE Next chapter explains all blocks discon rect set uae language to fg DE n Asa recongeizement uy EBERT rout yom ol the Te mu move head horizoetal of EU to 7 move eyebrows ber 6 4 move eyes fo Gi Ou change hearth color ol ee u re draw in mouth of EE picnure D write in mouth of DEE text BE when bot EEE is touched at hod when bot is i peaition Register your Aisoy1 You can register your Aisoy1 when you want it It is only necessary to be
11. n click on Update wifi settings and reboot your Aisoy1 for getting the new configuration NOTE When you make this change it loses the connectivity with the current network If the network is not available you can configure adding the SSID name and its password 17 Understanding a little more your Aisoy1 AIROS AIROS is the brain of the robot that controls everything it s happening to it and allows it to take decissions according to its internal state and needs When you switch on the robot AIROS starts running Botserver managing your robot Botserver is an easy way to configure and manage your robot You can always access directly to its linux and configure everything you need on its shell but not everybody wants to learn linux SO we ve created what we call the Botserver an embedded webserver running in your Aisoy1 for managing it in a similar manner of your internet router does Aisoy1 capabilities Aisoy1 uses many services that makes him acts as a robot One of the most important systems is the dialog system which consists on ASR Automatic Speech Recognition thanks to this service the robot is able to understand what you say TTS Text to Speech with the TTS the robot can speak That offers a very well improved voice for the robot It s really amazing the human kind voice you can get using this TTS Software updates We re continuously improving the Aisoy1 software that s why we made it very easy to up
12. t Servo consumption it allows Aisoy1 to know if any of its servos is blocked so that it can disable it to prevent further damage That way it won t suffer severe injuries if your dog decides to play with it Actuators e Servomotors Aisoy1 uses 3 basic servomotors for its movements e Head rotation to the right and to the left e Eyelips open and close e Eyebrows up and down RGB Led the RGB LED is capable of displaying any color combination It is normally used for showing the status of the robot or to express its emotional state happy green colour Speaker Aisoy1 integrates a small speaker to play any sound coming from the line input This signal is amplified with a sound amplifier so you can listen to raspberry pi at a good level e Screen The robot s mouth is a oled screen of 128x64 pixels of resolution It is used to express emotions and it can also be used to print any kind of text or drawing For example it is used to show the IP address of the robot when it is booting or to print a message when it is shutting down a 19 20 2014 Aisoy Robotics S L
13. the mouth will be printed the message ROS Starting Main services of Aisoy1 are being launched Heart becomes flickering in red A progress will updated when services have been launched 4 End booting If everything is ok heart becomes blue Aisoy1 opens its eyes and it shows a welcome message in its mouth similar to that hello my name is aisoy and my IP address is XXX XXX XXX XXX Right Your Aisoy1 is ready and you can start using it Connect to ethernet or wifi network In the booting process Aisoy1 tries automatically to connect to a network ethernet if it detects a plugged cable or configured wifi If it connects it will show the assigned IP address in its mouth when booting process is finished Access point Aisoy1 s first time use or when Aisoy1 can t find a network Aisoy1 creates an own network called AisoyAP which you can connect it Password for that network is aisoyTv4 and security protocol is WPA WPA2 Same way as it connects to a network when booting process ends Aisoy1 shows assigned IP in its mouth Configure a wifi network To configure a wifi network your Aisoy1 and your computer should be at the same network Ina browser you should introduce the Aisoy1 s IP Aisoy1 shows you the botserver s login screen Introduce as user aisoy and as password aisoy1 In the section wifi you can configure a new wifi network giving its name and password Connect Aisoy1 to your computer Your Aisoy1 and your computer do
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