Edurob NAO Robot Interactions

The Edurob NAO Robot Controller for Android may be downloaded here

We have created an EduRob specific version of the NAO Communicator App. It is an adaptation of the NAO Communicator app by Northern Stars (here).  Bespoke server software must be installed on the robot using the application to enable the app to connect to the NAO.  The Edurob team at NTU have put together a detailed guide to getting this app working with your NAO ( here). A set of behaviours must also be installed on your NAO using Choregraphe in order to utilise the full functionality of the app. More details on this and the behaviour downloads can be found here.

The NAO  interactions are available below and full descriptions and details of how to easily integrate them into your robotic teaching sessions are available in the EduRob Curriculum document here.

THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

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Tethering App

Choregraphe 2.1.4 for NAOqi version 2.1.4

This important behaviour allows quick and easy Wi-Fi connection between controller device (tablet/phone) and NAO robot. To easily tether the robot download the behaviour aaTetherRN.zip, extract the .crg file and install it on your NAO using Choregraphe. Setting it as a default behaviour (flag icon) will cause it to run after the NAO boots. The robot will tell you to press the front head button to allow tethering. Doing so will cause a Wi-Fi hotspot to be set up on the robot to which you can connect your controller device directly allowing easy connection to your NAO without use of external wireless networks. The robot will tell you the WiFi name, password and IP Address to use for the connection.

file: aaTetherRN.zip (Download)

Bulk ELS Installer

Choregraphe 2.1.4 for NAOqi version 2.1.4

This shortcut install contains the full suite of interactions listed further down this list (ELS01-22). It enables the interactions to be loaded to the robot in Choregraphe using one file. If you intend using or trying out most of the Edurob Example Learning Scenarios, then this is a good starting point. To install you must unzip the file and open in Choregraphe. You then need to send the programs to the robot using the “Package and install current program to the robot” button, and finally you must mark each of them with a flag to run at startup. Please see individual interaction descriptions below for further details.

file: EdurobLearningScenarios.zip (Download)

Encourage and Praise – Randomised Feedback (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4

The NAO can respond in a praising or encouraging way. The reactions are randomised from a set of interactions (10 for praise and 7 for try again). This enables the feedback given by the robot to be varied, but to only require 2 interface buttons. Two additional interactions (I don’t know, and Keep Going) have also been included and may be useful in some scenarios.

This interaction can be used with many of the other Example Learning Scenarios. The keys to call from the app are as follows:

  • Key: “CorrectAnswer” – Robot does one of a set of 10 praise interactions involving applause, cheering, speech and motions.
  • Key: “TryAgain” – Robot does one of a set of 6 encouragement interactions, asking the student to try again.
  • Key: “KeepGoing” – Robot asks the student to keep going.
  • Key: “DontKnow” – Robot opens his arms and says, “I don’t know”

file: NAO_RandomisedFeedback.zip (Download)

Many of these interactions have been adapted with permission from the University of Notre Dame.

Copyright © 2014 University of Notre Dame
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

ELS01 part 1 – Geometrical Shapes (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4


Interaction where the teacher can make the robot describe shapes and draw them in the air with his hands. He can draw a square, a circle or a triangle. The robot can also pose the question to get the student to find cards with shapes on them. Use with praise and try again behaviours to add robot rewards. For further details of the scenario see the curriculum document ELS01.

  • Key: “ShapesSquare” – Robot says “A square is a shape with 4 sides” and draws a square in the air twice.
  • Key: “ShapesCircle” – Robot says “A circle is round like a ball” and draws a circle in the air twice.
  • Key: “ShapesTriangle” – Robot says “A triangle has 3 sides” and draws a triangle in the air twice.
  • Key: “askSquare” – Robot asks “Can you find the Square?”
  • Key: “askCircle” – Robot asks “”Can you find the Circle?”
  • Key: “askTriangle” – Robot asks “Can you find the Triangle?”

Also install the Correct and Try again behaviours alongside this one.

file: NAO_ELS01_p1.zip (Download)

ELS01 part 2 – Counting with robot steps (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4


A set of behaviours to make NAO step forward between 1 and 5 times. Can be used with ELS01 part 2 from the curriculum document. It allows a student or teacher to command the robot to move one, two, three, four or five steps forwards. To be used with a set of number cards to help with number recognition and counting skills.

  • Key: “Steps1” – Robot steps a few steps forwards
  • Key: “Steps2” – Robot steps a few steps forwards, waits and then steps a few more steps forwards.
  • Key: “Steps3” – Robot does three sets of steps forwards with pauses inbetween.
  • Key: “Steps4” – Robot does four sets of steps forwards with pauses inbetween.
  • Key: “Steps5” – Robot does five sets of steps forwards with pauses inbetween.
  • Key: “Stand” – Robot stands up straight (walking pose is a slight squat)

file: NAO_ELS01_p2.zip (Download)

ELS01 part 3 – Stepwise Remote Control (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4


A set of behaviours to make NAO step and turn in all directions. Can be used with ELS01 part 3 from the curriculum document. It allows a student or teacher to command the robot to move towards a target, around a maze etc via a series of stepwise forward, backward and turn steps.

  • Key: “RemoteStepLeft” – Robot steps a few steps to its left
  • Key: “RemoteStepRight” – Robot steps a few steps to its right
  • Key: “RemoteForward” – Robot steps a few steps forwards
  • Key: “RemoteBackward” – Robot steps a few steps backwards
  • Key: “RemoteTurnRight” – Robot turns 30 degrees to its right
  • Key: “RemoteTurnLeft” – Robot turns 30 degrees to its left
  • Key: “Stand” – Robot stands up straight (walking pose is a slight squat)

file: NAO_ELS01_p3.zip (Download)

ELS02 – Evoking a spontaneous request (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4

This interaction requires simply a reward behaviour. We have supplied a selection which can be chosen from. For further details of how to run the scenario see the curriculum document ELS02.

Potentially useful behaviours may be downloaded from the following:

Also installing the Correct and Try again behaviours alongside these may be helpful in increasing interaction with the robot Or file: NAO_RandomisedFeedback.zip (Download)

ELS04 – Gross-motor imitation (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4


A set of behaviours to make NAO do arm actions. Can be used with ELS04  from the curriculum document. It allows a teacher to command the robot to move in a number of ways to attempt to get the student to copy the motions.

  • Key: “hug” – Robot puts wraps arms to body, and says “Time for a hug.”
  • Key: “handsonhead” – Robot puts hands on its head and says, “Hands on your head.”
  • Key: “relax” – Robot relaxes in standing pose and says, “and relax”
  • Key: “armsouttoside” – Robot puts hands out to the sides and says, “Arms out.”
  • Key: “armsup” – Robot puts hands in the air and says, “Put your hands up.”
  • Key: “zombie” – Robot puts hands out forwards and says, “Zombie.”

file: NAO_ELS04.zip (Download)

ELS05 part 1 – How many things? (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4


Counting game. There are a number of different items on the table in front of the student. The robot asks how many of something there are. The student responds, and the teacher assesses the answer. The teacher makes the robot respond using ‘Wizard of Oz’ button press.

Further instruction and detail on educational goals that can be achieved can be found in the Edurob Curriculum document in ELS05.

  • Key: “ELS05p1_introduction” – Robot says ” I will choose an object, and you need to tell me how many of them are here.”
  • Key: “ELS05p1_object1” – – Robot says, “Pens, How many are there?”
  • Key: “ELS05p1_object2” – Robot says, “Pencils, How many are there?”
  • Key: “ELS05p1_object3” – Robot says, “Toys, How many are there?”
  • Key: “ELS05p1_object4” – Robot says, “Coins, How many are there?”

file: NAO_ELS05p1.zip (Download)

This also needs the Correct and Try again behaviours installed alongside the main app to allow robot responses.

ELS05 part 2 – Social interactions (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4


The NAO asks a set of questions aimed at getting the student to speak. The programs has a set of default questions (as listed below), but in order to encourage specific students the question set can be edited in Choregraphe. Other questions about familiar or immediate events or experiences could be about a recent trip, assembly or lesson, or about a subject/sport/tv show/singer that the student is keen on. Default question set is:

  • What is your name?
  • Do you have any brothers or sisters?
  • How many?
  • What are their names?
  • How old are you?
  • Who is your best friend?

Further instruction and detail on educational goals that can be achieved can be found in the Edurob Curriculum document in ELS05.

  • Key: “ELS05p2_introduction” – Robot says ” I will ask you some questions.”
  • Key: “ELS05p2_question1” -Robot asks questions 1-6
  • Key: “ELS05p2_question2”
  • Key: “ELS05p2_question3”
  • Key: “ELS05p2_question4”
  • Key: “ELS05p2_question5”
  • Key: “ELS05p2_question6”

file: NAO_ELS05p2.zip (Download)

This also needs the Correct and Try again behaviours installed alongside the main app to allow robot responses. Or a student suitable reward behaviour.

ELS06 – Mimic Game (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4


Mimic game where the student has to try to:
Part 1: Raise an arm, copying the robot following robot instruction.
Part 2: Raise the same arm as the robot when directed to standing behind, next to and then facing the robot. The game can enhance understanding of point of view. NB: Requires additional feedback praise and try again behaviours.

Further instruction and detail on educational goals that can be achieved can be found in the Edurob Curriculum document in ELS06.

  • Key: “intro” – Robot says “Hello. Let’s play a copying game.”
  • Key: “raiseRandomArm” – Robot says “Raise the same arm as me!” and raises a random arm.
  • Key: “reset” – Robot reset to default standing position.

file: NAO_ELS06.zip (Download)

ELS07 – Find the Animal/Number (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4

The NAO says I will ask you to find the animal. He then goes on to ask for a random animal card to be shown. The student must find the right card and show it to NAO. The NAO uses the NAOmark to determine if the correct animal has been selected. The behaviour and printable picture set are provided.

Further instruction and detail on educational goals that can be achieved can be found in the Edurob Curriculum document in ELS07.

  • Key: “ELS07_animals” – Runs the game.
  • Key: “naocomAbort” – Ends the looping game. This also prevents the program being restarted – need to rerun the file from Choregraphe or reboot the robot tor restart.

Program file: NAO_ELS07_animals.zip (Download);
Printable animal pictures: NAO_ELS07_animals.pdf (Download)

There is an equivalent version with number cards for numbers 1-10. This uses:
Program file: NAO_ELS07_numbers.zip (Download);
Printable number pictures: ELS07_numberscards.zip (Download)

ELS09 – Let’s do some exercise (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4


A set of behaviours to make NAO do exercises. This should be used with the Example Learning Scenario ELS09 from the curriculum document.

file: NAO_ELS09.zip (Download)

  • Key: “starjumps” – Robot raises arms above his head and down again.
  • Key: “ArmsUpDown” – Robot swings arms forward and up above head and back down.
  • Key: “ArmsOpposites” – Robot swings arms forwards and backwards in a marching style.

NAO_ELS04.zip (Download)

  • Key: “hug” – Robot puts wraps arms to body, and says “Time for a hug.”
  • Key: “handsonhead” – Robot puts hands on its head and says, “Hands on your head.”
  • Key: “relax” – Robot relaxes in standing pose and says, “and relax”
  • Key: “armsouttoside” – Robot puts hands out to the sides and says, “Arms out.”
  • Key: “armsup” – Robot puts hands in the air and says, “Put your hands up.”
  • Key: “zombie” – Robot puts hands out forwards and says, “Zombie.”

files: NAO_ELS09.zip (Download) and NAO_ELS04.zip (Download)

ELS10 Part 1 – Eye Colours (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4


The application (randomly) lights up the eyes in one of the following colours and NAO asks – “What colour are my eyes?”. This can be used with the example learning scenario ELS10 from the curriculum document.

  • blue
  • red
  • green
  • yellow
  • pink

Uses Key: EyeColour

file: NAO_ELS10p1.zip (Download)

ELS10 part 2 – Recognise and say the animal/object (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4

This interaction can be used to get the robot to ask “What makes this noise?”, or “What goes like this?”. For further details see ELS10 in the curriculum document. It uses the following keys to fire the actions:

  • elephant – says, “What goes like this?” and then does elephant movement and sound
  • plane – says, “What goes like this?” and then puts arms out swooping and making a plane sound
  • monkey – says, “What goes like this?” and then does monkey sound and movement
  • dog – says, “What makes this sound?”and then does dog sound
  • horse – says, “What makes this sound?”and then does horse sound
  • cat – says, “What makes this sound?” and then does cat sound
  • cockerel – says, “What makes this sound?” and then does cockerel sound
  • bird – says, “What makes this sound?” and then does bird sound
  • sheep – says, “What makes this sound?” and then does sheep sound
  • cow – says, “What makes this sound?” and then does cow sound
  • duck – says, “What makes this sound?” and then does duck sound

file: NAO_ELS10p2.zip (Download)

ELS12 – Navigate the bee to the flower (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4


The student must navigate the robot by creating a sequence of instructions to get from one point to another. The trainer prints a set of cards to allow the student to make sequences of interactions. The teacher uses the set of behaviours to make NAO step and turn the given sequence presented by the student’s cards. For full details and resources see ELS12 from the curriculum document.

  • Key: “RemoteStepLeft” – Robot steps a few steps to its left
  • Key: “RemoteStepRight” – Robot steps a few steps to its right
  • Key: “RemoteForward” – Robot steps a few steps forwards
  • Key: “RemoteBackward” – Robot steps a few steps backwards
  • Key: “RemoteTurnRight” – Robot turns 30 degrees to its right
  • Key: “RemoteTurnLeft” – Robot turns 30 degrees to its left
  • Key: “Stand” – Robot stands up straight (walking pose is a slight squat)

Robot program file: NAO_ELS01_p3.zip (Download)
Downloadable cards file: Cards_for_Stepwise_Navigation.docx (Download)

ELS16 – Mimic sequences of sounds and actions (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4

A set of behaviours to make NAO do exercises or make sounds. These can be strung together into sequences to test ability to remember and repeat. This should be used with the Example Learning Scenario ELS16 from the curriculum document.

For sounds use:

NAO_ELS16.zip (Download)

It uses the following keys to fire the sounds:

  • ELS16_elephant – plays elephant  sound
  • ELS16_plane – puts arms out swooping and making a plane sound
  • ELS16_monkey – does monkey sound and movement
  • ELS16_dog –  plays dog sound
  • ELS16_horse – plays horse sound
  • ELS16_cat – plays cat sound
  • ELS16_cockerel – plays cockerel sound
  • ELS16_bird – plays bird sound
  • ELS16_sheep – plays sheep sound
  • ELS16_cow – plays cow sound
  • ELS16_duck – plays duck sound

For actions use:

file: NAO_ELS09.zip (Download)

  • Key: “starjumps” – Robot raises arms above his head and down again.
  • Key: “ArmsUpDown” – Robot swings arms forward and up above head and back down.
  • Key: “ArmsOpposites” – Robot swings arms forwards and backwards in a marching style.

NAO_ELS04.zip (Download)

  • Key: “hug” – Robot puts wraps arms to body, and says “Time for a hug.”
  • Key: “handsonhead” – Robot puts hands on its head and says, “Hands on your head.”
  • Key: “stand” – Robot relaxes in standing pose and says, “and relax”
  • Key: “armsouttoside” – Robot puts hands out to the sides and says, “Arms out.”
  • Key: “armsup” – Robot puts hands in the air and says, “Put your hands up.”
  • Key: “zombie” – Robot puts hands out forwards and says, “Zombie.”

files: NAO_ELS16.zip (Download), NAO_ELS09.zip (Download) and NAO_ELS04.zip (Download)

ELS17 –Recognise actions (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4


The student must recognise the actions on the verb picture cards. It can be delivered in a number of ways as described in ELS17 of the Edurob curriculum document, and summarised below.

  1. The teacher shows the students the verb-card ( stand, walk, drink, eat, play, etc.) and asks the question, “What is he/she/it doing?” The robot rewards correct answers with a student appropriate reward behaviour.
  2. Three verb cards are face down on the table (dance, walk, sing ). The robot commands, “take a card. Then the robot asks, “What is he/she/it doing?” If the student gives the correct answer, the robot will perform the action (NAO) or play an appropriate sound (EV3).
  3. The verbs cards are on the table. The robot says: “Take a card. What is he doing?” If the student gives correct answer, the teacher will ask the student to perform the action. The robot rewards actions with a student appropriate reward behaviour.

The NAO can perform the following separate actions:
Program key: “whataction” – Says, “What action are they doing?”
Program key: “pickone” – Says, “Pick one of the cards.”
Program key: “walk”
Program key: “sit”
Program key: “wave”
Program key: “sing”
Program key: “dance”
Program key: “eat”
Program key: “drink”

files: NAO_ELS17.zip (Download)
Action cards download file: ELS17_Cards_for_ActionsNAO.pdf (Download)
Can be used with a feedback file such as file: NAO_RandomisedFeedback.zip (Download)
Can also be used with other reward behaviours such as songs or dances.

ELS22 – Interact with the robot and make choices (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4


The student interacts with the robot by using remote control tablet interface or sensors on the robot itself.

  1. The student is asked to press the robots’ ‘foot’. When the button is touched the robot dances and plays music.
  2.  The student is asked to press buttons on the remote control or the tablet screen to make the robot move in different directions around the room.
  3. The student is asked to make the robot move towards different objects by remote control or tablet interface.

The NAO can perform the following separate actions:
File NAO_ELS22_foottodance.zip (Download) – Program key: “foottodance” – Says, “Touch my foot and I will dance for you.” Then repeats the behaviour until it is aborted. The Balamory mp3 can be changed to any other within choreograph and the dance will run for the same duration as the mp3.

For remote control using the app please use file: NAO_ELS01_p3.zip (Download) and see ELS01 part 3 for instructions on its use.

Song and Dance (NAO)

Choregraphe 2.1.4 for NAOqi version 2.1.4


The NAO robot does a dance routine to a song (in this instance a short clip of the Balamory theme tune). It repeats the routine until the end of the song. Any MP3 can therefore be substituted into the Choregraphe file and the robot will dance for the duration of that file.

To change the song to a new MP3 firstly add the new mp3 file using the blue plus button in the dance_generic project content section. You can then right click on the Play Sound box, and select set parameters. Select the correct mp3 file in the file name box.

This may be called using the Edurob App.**when ready!

The Key to call the current version is “balamoryThemeShort”.

file: dance_generic.zip (Download)

Dances and Songs

Choregraphe 2.1.4 for NAOqi version 2.1.4

A variety of dances have been sourced to be used as rewards for correct behaviours or responses in Special Educational Needs teaching scenarios. These are not created or owned by EDUROB, and the origin of them is unknown. We will be happy to credit creators or remove these from the site at the owner’s request. Download links and keys are given at the end of this post.

Gangnam Style
Happy Birthday
Rocky
  • Key: “macarena” file: Macarena.zip (Download). Dance only – you will need to add an mp3 file using Choregraphe.
  • Key: “HappyBirthday” file: HappyBirthday.zip (Download)
  • Key: “HeadsShouldersSong” file: HeadShoulders.zip (Download)
  • Key: “HeadsShouldersLearn1” file: HeadsShouldersLearn1.zip (Download)
  • Key: “HeadsShouldersLearn2” file: HeadsShouldersLearn2.zip (Download)
  • Dances.zip originates from the Northern Stars, NAO Communications Server Creative Commons software https://github.com/NorthernStars/NAO-Communication-server ., a download from here currently contains both dances and music files. File: Dances.zip (Download) contains the dances only. You will need to add your mp3 files in Choregraphe. The file is shared here under the  following license terms https://creativecommons.org/licenses/by-nc-sa/3.0/
    • Key: “danceGangnamStyle”
    • Key: “danceEyeOfTheTiger”
    • Key: “danceThaiChi”
    • Key: “danceVangelisDance”
    • The Caravan Palace and Evolution of Dance dances provided with the original version need adjustment for current NAO version (v4). These will cause NAO to fall so you are advised to Not Use them!

Try Again

Choregraphe 2.1.4 for NAOqi version 2.1.4


A behaviour where NAO politely asks the student to try again.

  • Key: “AnswerWrong”

Teacher’s notes – Place Filename here (Download)

file: WrongAnswer.zip (Download)

Correct answer

Choregraphe 2.1.4 for NAOqi version 2.1.4


NAO praises a correct answer with applause.

Key: “AnswerCorrect”

Teachers notes: Filename here (Download)

file: Correct.zip (Download)

Wave Goodbye

Choregraphe 2.1.4 for NAOqi version 2.1.4

Robot waves and says “Goodbye! It was lovely to meet you”.

Uses Key: Goodbye

Teacher’s notes – Place Filename here (Download)

file: Goodbye.zip (Download)