T14 - Joints - V 3.3

See also

V 4.0 | V 3.3 | V 3.2

NAO T14 | Joints


Head joints

../../_images/hardware_headjoint_3.3.png
Joint name Motion Range (degrees) Range (radians)
HeadYaw Head joint twist (Z) -119.5 to 119.5 -2.0857 to 2.0857
HeadPitch Head joint front and back (Y) -38.5 to 29.5 -0.6720 to 0.5149

Access value by using ALMemory key name

Command(radians):

Device/SubDeviceList/HeadPitch/Position/Actuator/Value
Device/SubDeviceList/HeadYaw/Position/Actuator/Value

Sensor(radians):

Device/SubDeviceList/HeadPitch/Position/Sensor/Value
Device/SubDeviceList/HeadYaw/Position/Sensor/Value

Due to collision with NAO shell, the head yaw and pitch are limited.

HeadYaw (°) HeadPitch - (°) HeadPitch + (°)
-119.52 -25.73 18.91
-87.49 -18.91 11.46
-62.45 -24.64 17.19
-51.74 -27.50 18.91
-43.32 -31.40 21.20
-27.85 -38.50 24.18
0.0 -38.50 29.51
27.85 -38.50 24.18
43.32 -31.40 21.20
51.74 -27.50 18.91
62.45 -24.64 17.19
87.49 -18.91 11.46
119.52 -25.73 18.91

Left Arm joints

../../_images/hardware_larmjoint_3.3.png
Joint name Motion Range (degrees) Range (radians)
LShoulderPitch Left shoulder joint front and back (Y) -119.5 to 119.5 -2.0857 to 2.0857
LShoulderRoll Left shoulder joint right and left (Z) -18 to 76 -0.3142 to 1.3265
LElbowYaw Left shoulder joint twist (X) -119.5 to 119.5 -2.0857 to 2.0857
LElbowRoll Left elbow joint (Z) -88.5 to -2 -1.5446 to -0.0349
LWristYaw Left wrist joint (X) -104.5 to 104.5 -1.8238 to 1.8238
LHand Left hand Open and Close Open and Close

Access value by using ALMemory key name

Command(radians):

Device/SubDeviceList/LShoulderPitch/Position/Actuator/Value
Device/SubDeviceList/LShoulderRoll/Position/Actuator/Value
Device/SubDeviceList/LElbowYaw/Position/Actuator/Value
Device/SubDeviceList/LWristYaw/Position/Actuator/Value
Device/SubDeviceList/LHand/Position/Actuator/Value

Sensor(radians):

Device/SubDeviceList/LShoulderPitch/Position/Sensor/Value
Device/SubDeviceList/LShoulderRoll/Position/Sensor/Value
Device/SubDeviceList/LElbowYaw/Position/Sensor/Value
Device/SubDeviceList/LWristYaw/Position/Sensor/Value
Device/SubDeviceList/LHand/Position/Sensor/Value

Right Arm joints

../../_images/hardware_rarmjoint_3.3.png
Joint name Motion Range (degrees) Range (radians)
RShoulderPitch Right shoulder joint front and back (Y) -119.5 to 119.5 -2.0857 to 2.0857
RShoulderRoll Right shoulder joint right and left (Z) -76 to 18 -1.3265 to 0.3142
RElbowYaw Right shoulder joint twist (X) -119.5 to 119.5 -2.0857 to 2.0857
RElbowRoll Right elbow joint (Z) 2 to 88.5 0.0349 to 1.5446
RWristYaw Right wrist joint (X) -104.5 to 104.5 -1.8238 to 1.8238
RHand Right hand Open and Close Open and Close

Access value by using ALMemory key name

Command(radians):

Device/SubDeviceList/RShoulderPitch/Position/Actuator/Value
Device/SubDeviceList/RShoulderRoll/Position/Actuator/Value
Device/SubDeviceList/RElbowYaw/Position/Actuator/Value
Device/SubDeviceList/RWristYaw/Position/Actuator/Value
Device/SubDeviceList/RHand/Position/Actuator/Value

Sensor(radians):

Device/SubDeviceList/RShoulderPitch/Position/Sensor/Value
Device/SubDeviceList/RShoulderRoll/Position/Sensor/Value
Device/SubDeviceList/RElbowYaw/Position/Sensor/Value
Device/SubDeviceList/RWristYaw/Position/Sensor/Value
Device/SubDeviceList/RHand/Position/Sensor/Value