Joints information
Head joints
| Joint name | Motion | Range (degrees) | Range (radian) |
|---|---|---|---|
| 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(radian):
Device/SubDeviceList/HeadPitch/Position/Actuator/Value Device/SubDeviceList/HeadYaw/Position/Actuator/Value
Sensor(radian):
Device/SubDeviceList/HeadPitch/Position/Sensor/Value Device/SubDeviceList/HeadYaw/Position/Sensor/Value
Right Arm joints
| Joint name | Motion | Range (degrees) | Range (radian) |
|---|---|---|---|
| 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) | -94.5 to -0.5 | -1.6494 to -0.0087 |
| RElbowYaw | Right shoulder joint twist (X) | -119.5 to 119.5 | -2.0857 to 2.0857 |
| RElbowRoll | Right elbow joint (Z) | 0.5 to 89.5 | 0.0087 to 1.5621 |
| RWristYaw | Right wrist joint (X) | -104.5 to 104.5 | -1.8238 to 1.8238 |
| RHand | Right hand | Open And Close |
Access value by using ALMemory key name
Command(radian):
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(radian):
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
Left Arm joints
| Joint name | Motion | Range (degrees) | Range (radian) |
|---|---|---|---|
| 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) | 0.5 to 94.5 | 0.0087 to 1.6494 |
| LElbowYaw | Left shoulder joint twist (X) | -119.5 to 119.5 | -2.0857 to 2.0857 |
| LElbowRoll | Left elbow joint (Z) | -89.5 to -0.5 | -1.5621 to -0.0087 |
| LWristYaw | Left wrist joint (X) | -104.5 to 104.5 | -1.8238 to 1.8238 |
| LHand | Left hand | Open And Close |
Access value by using ALMemory key name
Command(radian):
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(radian):
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
Pelvis joints
| Joint name | Motion | Range (degrees) | Range (radian) |
|---|---|---|---|
| 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(radian):
Device/SubDeviceList/LHipYawPitch/Position/Actuator/Value Device/SubDeviceList/RHipYawPitch/Position/Actuator/Value
Sensor(radian):
Device/SubDeviceList/LHipYawPitch/Position/Sensor/Value Device/SubDeviceList/RHipYawPitch/Position/Sensor/Value
Left Leg joints
| Joint name | Motion | Range (degrees) | Range (radian) |
|---|---|---|---|
| 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) | -44.06 to 22.79 | -0.769001 to 0.397880 |
Access value by using ALMemory key name
Command(radian):
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(radian):
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+(°) | LAnkleRoll-(°) |
|---|---|---|
| -68.15 | 2.86 | -4.29 |
| -48.12 | 10.31 | -9.74 |
| -40.10 | 22.79 | -12.60 |
| -25.78 | 22.79 | -44.06 |
| 5.72 | 22.79 | -44.06 |
| 20.05 | 22.79 | -31.54 |
| 52.86 | 0.00 | -2.86 |
Right Leg joints
| Joint name | Motion | Range (degrees) | Range (radian) |
|---|---|---|---|
| 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) | -22.27 to 45.03 | -0.388676 to 0.785875 |
Access value by using ALMemory key name
Command(radian):
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(radian):
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+(°) | RAnkleRoll-(°) |
|---|---|---|
| -67.97 | 4.29 | -2.86 |
| -48.13 | 9.74 | -10.31 |
| -40.10 | 12.60 | -22.27 |
| -25.78 | 45.03 | -22.27 |
| 5.73 | 45.03 | -22.27 |
| 20.05 | 31.54 | -22.27 |
| 53.4 | 2.87 | 0.00 |