刚度
刚度开
启动NAO时，其初始刚度为零。这时，向它放送任何命令都无济于事，NAO不会动。
为了让电机充满动力，可以使用一个动作的刚度方法：
# Example showing how to interpolate to maximum stiffness in 1 second names = 'Body' stiffness = 1.0 time = 1.0 proxy.stiffnessInterpolation(names, stiffness, time)
从零开始改变刚度时，最好不要操之过急，以免接通电机时发生振动。
许多任务无需最大刚度就可以完成（刚度=0.6），而诸如起立等任务则需要全部动力（刚度=1.0）。
刚度关
把刚度降至零时，就切断了电机的所有动力。因此，当机器人处于一个不稳定的姿势时就要小心，避免机器人摔倒。
# Example showing how to interpolate to minimum stiffness in 1 second names = 'Body' stiffness = 0.0 time = 1.0 proxy.stiffnessInterpolation(names, stiffness, time)
刚度轨迹
如果您希望在一段时间内刚度不断变化，可以要求一个刚度的轨迹。
# Example showing a stiffness trajectory # Here the stiffness of the HeadYaw Joint, rises to # 0.8, then goes back to zero. pNames = "HeadYaw" pStiffnessLists = [0.0, 0.8, 0.0] pTimeLists = [0.5, 1.0, 1.5] proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)
与角度插值命令相同，可以在同一个命令里指定多个轨迹。
# Example showing multiple stiffness trajectories # Here the stiffness of the HeadYaw Joint, rises to # 0.5, then goes back to zero, while the HeadPitch # joint rises to 1.0 pNames = ["HeadYaw","HeadPitch"] pStiffnessLists = [[0.0, 0.5, 0.0],[0.0, 1.0, 0.0]] pTimeLists = [[0.5, 1.0, 1.5],[0.5, 1.0, 1.5]] proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)