Joints - V 3.3

See also

V 4.0 | V 3.3 | V 3.2

H25 - Joints | H21 - Joints | T14 - Joints | T2 - 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

Pelvis joints

../../_images/hardware_pelvisjoint.png
Joint name Motion Range (degrees) Range (radians)
LHipYawPitch* Left hip joint twist (Y-Z 45°) -65.62 to 42.44 -1.145303 to 0.740810
RHipYawPitch* Right hip joint twist (Y-Z 45°) -65.62 to 42.44 -1.145303 to 0.740810

Note

LHipYawPitch and RHipYawPitch are physically just one motor so they cannot be controlled independently.

Access value by using ALMemory key name

Command(radians):

Device/SubDeviceList/LHipYawPitch/Position/Actuator/Value
Device/SubDeviceList/RHipYawPitch/Position/Actuator/Value

Sensor(radians):

Device/SubDeviceList/LHipYawPitch/Position/Sensor/Value
Device/SubDeviceList/RHipYawPitch/Position/Sensor/Value

Left Leg joints

../../_images/hardware_llegjoint.png
Joint name Motion Range (degrees) Range (radians)
LHipRoll Left hip joint right and left (X) -21.74 to 45.29 -0.379472 to 0.790477
LHipPitch Left hip joint front and back (Y) -101.63 to 27.73 -1.773912 to 0.484090
LKneePitch Left knee joint (Y) -5.29 to 121.04 -0.092346 to 2.112528
LAnklePitch Left ankle joint front and back (Y) -68.15 to 52.86 -1.189516 to 0.922747
LAnkleRoll Left ankle joint right and left (X) -22.79 to 44.06 -0.397880 to 0.769001

Access value by using ALMemory key name

Command(radians):

Device/SubDeviceList/LHipRoll/Position/Actuator/Value
Device/SubDeviceList/LHipPitch/Position/Actuator/Value
Device/SubDeviceList/LKneePitch/Position/Actuator/Value
Device/SubDeviceList/LAnklePitch/Position/Actuator/Value
Device/SubDeviceList/LAnkleRoll/Position/Actuator/Value

Sensor(radians):

Device/SubDeviceList/LHipRoll/Position/Sensor/Value
Device/SubDeviceList/LHipPitch/Position/Sensor/Value
Device/SubDeviceList/LKneePitch/Position/Sensor/Value
Device/SubDeviceList/LAnklePitch/Position/Sensor/Value
Device/SubDeviceList/LAnkleRoll/Position/Sensor/Value

Due to collision with NAO shell, the ankle pitch and roll are limited.

LAnklePitch (°) LAnkleRoll Min (°) LAnkleRoll Max (°)
-68.15 -2.86 4.30
-48.13 -10.31 9.74
-40.11 -22.80 12.61
-25.78 -22.80 44.06
5.73 -22.80 44.06
20.05 -22.80 31.54
52.87 0.00 2.86

Right Leg joints

../../_images/hardware_rlegjoint.png
Joint name Motion Range (degrees) Range (radians)
RHipRoll Right hip joint right and left (X) -42.30 to 23.76 -0.738321 to 0.414754
RHipPitch Right hip joint front and back (Y) -101.54 to 27.82 -1.772308 to 0.485624
RKneePitch Right knee joint (Y) -5.90 to 121.47 -0.103083 to 2.120198
RAnklePitch Right ankle joint front and back (Y) -67.97 to 53.40 -1.186448 to 0.932056
RAnkleRoll Right ankle joint right and left (X) -45.03 to 22.27 -0.785875 to 0.388676

Access value by using ALMemory key name

Command(radians):

Device/SubDeviceList/RHipRoll/Position/Actuator/Value
Device/SubDeviceList/RHipPitch/Position/Actuator/Value
Device/SubDeviceList/RKneePitch/Position/Actuator/Value
Device/SubDeviceList/RAnklePitch/Position/Actuator/Value
Device/SubDeviceList/RAnkleRoll/Position/Actuator/Value

Sensor(radians):

Device/SubDeviceList/RHipRoll/Position/Sensor/Value
Device/SubDeviceList/RHipPitch/Position/Sensor/Value
Device/SubDeviceList/RKneePitch/Position/Sensor/Value
Device/SubDeviceList/RAnklePitch/Position/Sensor/Value
Device/SubDeviceList/RAnkleRoll/Position/Sensor/Value

Due to collision with NAO shell, the ankle pitch and roll are limited.

RAnklePitch (°) RAnkleRoll Min (°) RAnkleRoll Max (°)
-68.15 -4.30 2.86
-48.13 -9.74 10.31
-40.11 -12.61 22.80
-25.78 -44.06 22.80
5.73 -44.06 22.80
20.05 -31.54 22.80
52.87 -2.86 0.00
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