Choreographe

Choregraphe is an easy tool which allows users to create applications containing dialog and behaviors by dragging and dropping features and algorithmic reasoning. It is possible to easily test the projects directly on a simulated robot, or on a real one.

The choreographe project is connected to the application and the robot thanks to a client/server connection. It receives the voice command sent by the Dialogue Interface fragment. According to the order received, the robot executes the corresponding action. In case the command is not included in the set of possible actions, then the NAO will send a vocal message to the user, telling him/her that the command is unknown. In the following is showed the final version of the Choreographe project. The accepted commands-actions are:

• "Yes" --> The robot will nod with the head;
• "No" --> The robot will deny with the head;
• "Hello" --> The robot will search for any face in its focus range and, in case of success, it will greet any person found;
• "Sit Down" --> The robot will try to sit down. In case of failure, it will ask people for help;
• "Stand Up" --> The same as "Sit Down" but on the other sense;
• "Dance" --> The robot will start to dance with the sound of music;
• "Take a photo" --> The robot will search for any face in its field of view and, in case of success, it will warn them that a photo will be taken.

The NAO is able to recognize these words in any phrase and also to execute more than one command at the same time.