Aldebaran Software 2.1.0.18 documentation

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Pepper - Links¶

See also

Pepper - Technical overview


Length overview¶

../../_images/links1.png

Link definition¶

Links are defined using:

  • Joint names and,
  • a point called Torso, located at -38.00 X (mm) and 169.90 Z (mm) from HeadYaw.

See Pepper - Masses to visualize them.

Axis definition

The X axis is positive toward robot’s front, the Y from right to left and the Z is vertical.

juliet_xyz

Head¶

NeckOffsetZ
169.90
From ... To ... X (mm) Y (mm) Z (mm)
Torso HeadYaw -38.00 0.00 169.90
HeadYaw HeadPitch 0.00 0.00 0.00

Arms¶

ShoulderOffsetY
149.74
ElbowOffsetY
15.00
UpperArmLength
181.20
LowerArmLength
150.0
ShoulderOffsetZ
86.82
HandOffsetX
69.5
HandOffsetZ
30.3

Left

From ... To ... X (mm) Y (mm) Z (mm)
Torso LShoulderPitch -57.00 149.74 86.82
LShoulderPitch LShoulderRoll 0.00 0.00 0.00
LShoulderRoll LElbowYaw 181.20 15.00 0.13
LElbowYaw LElbowRoll 0.00 0.00 0.00
LElbowRoll LWristYaw 150.00 23.60 22.84
LWristYaw LHandCenter 69.5 0.00 -30.30

Right

From ... To ... X (mm) Y (mm) Z (mm)
Torso RShoulderPitch -57.00 -149.74 86.82
RShoulderPitch RShoulderRoll 0.00 0.00 0.00
RShoulderRoll RElbowYaw 181.20 -15.00 0.13
RElbowYaw RElbowRoll 0.00 0.00 0.00
RElbowRoll RWristYaw 150.00 23.60 22.84
RWristYaw RHandCenter 69.5 0.00 -30.30

Fingers¶

../../_images/finger_names.png

Left

From ... To ... X (mm) Y (mm) Z (mm)
LWristYaw LFinger11 72.10 -26.80 4.00
LFinger11 LFinger12 18.00 0.00 0.00
LFinger12 LFinger13 18.00 0.00 0.00
LWristYaw LFinger21 77.30 -7.30 6.00
LFinger21 LFinger22 18.00 0.00 0.00
LFinger22 LFinger23 18.00 0.00 0.00
LWristYaw LFinger31 73.30 12.30 4.00
LFinger31 LFinger32 18.00 0.00 0.00
LFinger32 LFinger33 18.00 0.00 0.00
LWristYaw LFinger41 64.00 30.90 0.00
LFinger41 LFinger42 18.00 0.00 0.00
LFinger42 LFinger43 18.00 0.00 0.00
LWristYaw LThumb1 38.20 -35.70 -19.90
LThumb1 LThumb2 22.00 0.00 0.00

Right

From ... To ... X (mm) Y (mm) Z (mm)
RWristYaw RFinger11 72.10 26.80 4.00
RFinger11 RFinger12 18.00 0.00 0.00
RFinger12 RFinger13 18.00 0.00 0.00
RWristYaw RFinger21 77.30 7.30 6.00
RFinger21 RFinger22 18.00 0.00 0.00
RFinger22 RFinger23 18.00 0.00 0.00
RWristYaw RFinger31 73.30 -12.30 4.00
RFinger31 RFinger32 18.00 0.00 0.00
RFinger32 RFinger33 18.00 0.00 0.00
RWristYaw RFinger41 64.00 -30.90 0.00
RFinger41 RFinger42 18.00 0.00 0.00
RFinger42 RFinger43 18.00 0.00 0.00
RWristYaw RThumb1 38.20 35.70 -19.90
RThumb1 RThumb2 22.00 0.00 0.00

Angle between two phalanges: 50 degrees.

../../_images/finger_angle.png

Left

“LFinger11”: RotZ(-10.5)*RotX(5.0)

“LFinger21”: RotZ(-3.5)*RotX(0.0)

“LFinger31”: RotZ(3.5)*RotX(-3.0)

“LFinger41”: RotZ(12.5)*RotX(-5.0)

“LThumb1”: RotX(180.0)*RotZ(67.4)*RotY(-70.7)*RotX(-110.0)

Right

“RFinger11”: RotZ(10.5)*RotX(-5.0)

“RFinger21”: RotZ(3.5)*RotX(0.0)

“RFinger31”: RotZ(-3.5)*RotX(3.0)

“RFinger41”: RotZ(-12.5)*RotX(5.0)

“RThumb1”: RotX(180.0)*RotZ(-67.4)*RotY(-70.7)*RotX(110.0)

Leg¶

WaistOffsetZ
139.00 mm
HipOffsetZ
79.00 mm
ThighLength
268.00 mm
TibiaLength
264.00 mm
WheelRadius
70 mm
WheelCenterOffset
6.20 mm
../../_images/juliet_links_wheel.png
From ... To ... X (mm) Y (mm) Z (mm)
Torso HipRoll 0.02 0.00 -139.00
HipRoll HipPitch 0.00 0.00 -79.00
HipPitch KneePitch 0.00 0.00 -268.00
KneePitch WheelFL 90.00 155.79 -264.00
KneePitch WheelFR 90.00 -155.79 -264.00
KneePitch WheelB -170.00 0.00 -264.00
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Table Of Contents

  • Site map
  • What’s new
  • NAO Documentation
  • Romeo Documentation
  • Pepper Documentation
    • Pepper User Guide
    • Pepper - Technical overview
      • Pepper - Construction
      • Pepper - Motherboard
      • Pepper - Battery
      • Pepper - Power entries
      • Pepper - Connectivity
      • Pepper - Tablet
      • Pepper - Loudspeakers
      • Pepper - Microphones
      • Pepper - 2D Cameras
      • Pepper - 3D Sensor
      • Pepper - LEDs
      • Pepper - Inertial unit
      • Pepper - Lasers
      • Pepper - Bumpers
      • Pepper - Sonars
      • Pepper - MRE
      • Pepper - Buttons and Tactile Sensors
      • Pepper - Charging station
      • Pepper - Links
      • Pepper - Joints
      • Pepper - Masses
      • Pepper - Motors
      • Pepper - Chain & Effector definitions
      • Pepper - Wake up and Rest effect
      • Pepper - Predefined postures
    • Pepper - Actuator & Sensor list
  • NAOqi Developer guide
  • Glossary
  • Legal notices

On this page

  • Pepper - Links
    • Length overview
    • Link definition
    • Head
    • Arms
    • Fingers
    • Leg
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