Joints information

Head joints

Head Joints limitations

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

Right Arm Joints limitations

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

Left Arm Joints limitations

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

Pelvis Joint limitations

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

Left Leg Joints limitations

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.

Left ankle limitations

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

Right leg Joints limitations

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.

Right ankle limitations

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





Copyright © 2010 Aldebaran-Robotics - All rights reserved