../_images/tiago-icon.png ../_images/tiagopro-icon.png ../_images/ari-icon.png

List of available motions#

Multiple pre-recorded motion are available on PAL’s robots. You can use them either ‘stand-alone’ (see link to how-to at the bottom of this page), or as part of multi-modal speech.

Note

In the table below, use the Action ID to refer to a specific motion in your scripts.

Action name

Action ID

Description

alive_1

alive_1

This movement makes the robot move both arms softly, at the same time, to the back and a bit to the side.

alive_2

alive_2

This movement makes the robot stretch down both arms.

alive_3

alive_3

This movement makes the robot’s head turn to the left, and the left arm stretches down.

alive_4

alive_4

This movement makes the robot’s head turn to the right, and the right arm stretches down, the same as alive_3 but with the other side.

alive_5

alive_5

This movement makes the robot stretch down both arms and a bit to the side.

alive_6

alive_6

This movement makes the robot moves its arms as it was walking, moving them to the from and back.

alive_7

alive_7

This movement makes the robot moves its head first a bit to the left and then a bit to the right. If it was looking around but in from of it.

Wave

wave

This movement makes the robot’s arms move it was trying to say hello. It goes up and the elbow bends, then the arm goes down again.

Start ARI

start_ari

This movement makes the robot’s arms move a bit to the front and to the side.

Bow

bow

This movement makes the robot head down, bowing it. Then, the head looks to the front again.

Nod

nod

This movement makes the robot head up and down as it tries to say yes.

Shake Left

shake_left

This movement makes the robot’s left arm moves to the front and the part from the elbow until the hand goes up and down like it tries to greet with its left hand.

Shake Right

shake_right

This movement makes the robot’s right arm moves to the front and the part from the elbow until the hand goes up and down like it tries to greet with its right hand.

Show Left

show_left

This movement makes the robot’s left arm move to the side as it was trying to show you something on the left.

Show Right

show_right

This movement makes the robot’s right arm move to the side as it was trying to show you something on the right.

Look Around

look_around

This movement makes the robot moves its head from side to side slowly, starting for the right side, like it is looking for something.

Flying

flying

This movement makes the robot moves its arms forward and backward, trying to make it look like it is flying.

See also#