H21 - Contact and tactile sensors


../../_images/nao_h21_tactile.png
Part Location
A Head tactile sensor
B Chest button
C Feet bumpers

Tactile Head

3 x head capacitive sensors.

../../_images/tactile_head_114.png
Item Sensor name X(m) Y(m) Z(m)
A Head/Touch/Front 0.0312 0.0000 0.1014
B Head/Touch/Middle 0.0010 0.0000 0.1099
C Head/Touch/Rear -0.0257 0.0000 0.1045

Chest Button

../../_images/hardware_chest_button.png
Item Sensor name X(m) Y(m) Z(m)
A ChestBoard/Button 0.049871 0.001588 0.055163

Feet Bumpers

2 x bumpers located at the tip of each foot. These are simple ON/OFF switches, thus 4 in total.

../../_images/hardware_bumper_1.png ../../_images/hardware_bumper_2.png
Bumper name X(m) Y(m) Z(m)
BumperLFootLeft 0.0876 0.0190 -0.0353
BumperLFootRight 0.0876 -0.0140 -0.0353
BumperRFootLeft 0.0876 0.0140 -0.0353
BumperRFootRight 0.0876 -0.0190 -0.0353