Autonomous Abilities ¶
- Keep the robot alive at all times,
- Let application developer focus on their very specific content, without micro-programming robot day-to-day behavior.
Autonomous abilities are robot behaviors (movements, animations, tracking) occurring:
- in the background,
- taking the different resources of the robot weakly.
List of Autonomous Abilities¶
|BasicAwareness||Reactive||Reacting to any kind of stimuli|
|AutonomousBlinking||Reacting to human|
Constraining Autonomous Abilities on given degrees of freedom¶
HolderBuilder.withDegreesOfFreedom allows you to define constraints restricting the Autonomous Abilities.
DegreeOfFreedom.ROBOT_FRAME_ROTATION prevents rotational movements
of the robot base.
The prioritization system works as follows:
By default, the robot will make background movements (aka. idle movements) and blink. If the robot detects a stimulus, then he may move his head and body, overriding the background movements. Finally, if a high-level behavior such as a Say or an Animate is executed, this will take priority over the previous modules.
Future-proof thanks to API levels¶
Thanks to API level mechanism, potential new autonomous abilities becoming available on the robot will not modify the current behaviour of your application: new abilities will be activated only if you rebuild with the new QiSDK version.
Tips & Tricks¶
If I want the robot to keep a posture (e.g. at the end of an animation),
BasicAwarenessmust be held so the robot can remain perfectly still.
If I want to freeze screen location while speaking or listening, I should disable body language.
And if I use
QiChatbot? Disable body language option:
- of the
Chatto freeze while listening, and
- of the
QiChatbotto freeze while speaking.
- of the