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I guess that you're using Ubuntu 11.10 (Oneiric), which does not provide libmpfr.so.1 any more. According to Nao's documentation, Oneiric is not officially supported by Aldebaran yet. You can still give it a try, but probably some dependencies will be missing.

In the case of libmpfr, you could try to download the package libmpfr1ldbl from Ubuntu Natty, extract it using dpkg -x and copy libmpfr.so.1 to /media/external/nao-cross-toolchain-1.10.52/cross/geode/bin/../libexec/gcc/i586-linux/4.3.3 .