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Description of the motors

There are two types of motors in NAO and for each motor, there are two types of speed reduction ratio.

Motors	Motor type 1	Motor type 2
No load speed	8000 rpm	11 900 rpm
Stall torque	59.5 mNm	15.1 mNm
Nominal speed	6330 rpm	8810 rpm
Nominal torque	12.3 mNm	3.84 mNm

Motors	Motor type 1	Motor type 2
Reduction ratio type 1	201.3	150.27
No load speed	238.45 °/s (4.76°/20ms)	473.72 °/s (9.47°/ 20ms)
Stall torque	11.97 Nm (without the ratio efficiency)	2.27 Nm (without the ratio efficiency)
Nominal speed	188.67 °/s (3.77°/20ms)	351.77 °/s (7.03°/20ms)
Nominal torque	2.47 Nm (without the ratio efficiency)	0.57 Nm (without the ratio efficiency)

Motors	Motor type 1	Motor type 2
Reduction ratio type 2	130.85	173.22
No load speed	366.83 °/s (7.33°/20ms)	412.19 °/s (8.24°/ 20ms)
Stall torque	7.78 Nm (without the ratio efficiency)	2.61 Nm (without the ratio efficiency)
Nominal speed	290.25 °/s (5.80°/20ms)	305.16 °/s (6.10°/20ms)
Nominal torque	1.61 Nm (without the ratio efficiency)	0.66 Nm (without the ratio efficiency)

Motor and reduction type for each joint

This diagram reprensents the motor type and reduction ratio for each joint in NAO: Joint Name[Motor Type][Reductor Type]

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