In "Settings", choose "USB utilities" and select "Connect Storage to PC". You can also connect on Bluetooth (assuming your computer has Bluetooth).

With Android 4.0 or later, you need Go-mtpfs and its dependencies (which include a recent version of libmtp9... and maybe more to hunt down!).

For the the x86 architecture:

http://ppa.launchpad.net/webupd8team/unstable/ubuntu/pool/main/libm/libmtp/libmtp9_1.1.5-42-g6e96316-0~precise~1_i386.deb
http://ppa.launchpad.net/webupd8team/unstable/ubuntu/pool/main/g/go-mtpfs/go-mtpfs_0.1-1~20130108~webupd8~precise_i386.deb


For the the amd64 architecture:

http://ppa.launchpad.net/webupd8team/unstable/ubuntu/pool/main/libm/libmtp/libmtp9_1.1.5-42-g6e96316-0~precise~1_amd64.deb
http://ppa.launchpad.net/webupd8team/unstable/ubuntu/pool/main/g/go-mtpfs/go-mtpfs_0.1-1~20130108~webupd8~precise_amd64.deb


You can know your architecture by executing the 'arch' command in a terminal.

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