H21 - Joints - V 3.2

See also

V 4.0 | V 3.3 | V 3.2

NAO H21 | Joints

Head joints

../../_images/hardware_headjoint.png

Motion range

Joint name Motion Range (degrees) Range (radians)
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(radians):

Device/SubDeviceList/HeadPitch/Position/Actuator/Value
Device/SubDeviceList/HeadYaw/Position/Actuator/Value

Sensor(radians):

Device/SubDeviceList/HeadPitch/Position/Sensor/Value
Device/SubDeviceList/HeadYaw/Position/Sensor/Value

Anti collision limitation

Due to potential shell collision at the head level, the Pitch motion range is limited according to the Yaw value.

HeadYaw HeadPitch Min HeadPitch Max   HeadYaw HeadPitch Min HeadPitch Max
(degrees) (radians)
-119.52 -25.73 18.91   -2.086017 -0.449073 0.330041
-87.49 -18.91 11.46 -1.526988 -0.330041 0.200015
-62.45 -24.64 17.19 -1.089958 -0.430049 0.300022
-51.74 -27.50 18.91 -0.903033 -0.479965 0.330041
-43.32 -31.40 21.20 -0.756077 -0.548033 0.370010
-27.85 -38.50 24.18 -0.486074 -0.671951 0.422021
0.0 -38.50 29.51 0.000000 -0.671951 0.515047
27.85 -38.50 24.18 0.486074 -0.671951 0.422021
43.32 -31.40 21.20 0.756077 -0.548033 0.370010
51.74 -27.50 18.91 0.903033 -0.479965 0.330041
62.45 -24.64 17.19 1.089958 -0.430049 0.300022
87.49 -18.91 11.46 1.526988 -0.330041 0.200015
119.52 -25.73 18.91 2.086017 -0.449073 0.330041

Left Arm joints

../../_images/hardware_larmjoint_h21.png
Joint name Motion Range (degrees) Range (radians)
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

Access value by using ALMemory key name

Command(radians):

Device/SubDeviceList/LShoulderPitch/Position/Actuator/Value
Device/SubDeviceList/LShoulderRoll/Position/Actuator/Value
Device/SubDeviceList/LElbowYaw/Position/Actuator/Value

Sensor(radians):

Device/SubDeviceList/LShoulderPitch/Position/Sensor/Value
Device/SubDeviceList/LShoulderRoll/Position/Sensor/Value
Device/SubDeviceList/LElbowYaw/Position/Sensor/Value

Right Arm joints

../../_images/hardware_rarmjoint_h21.png
Joint name Motion Range (degrees) Range (radians)
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

Access value by using ALMemory key name

Command(radians):

Device/SubDeviceList/RShoulderPitch/Position/Actuator/Value
Device/SubDeviceList/RShoulderRoll/Position/Actuator/Value
Device/SubDeviceList/RElbowYaw/Position/Actuator/Value

Sensor(radians):

Device/SubDeviceList/RShoulderPitch/Position/Sensor/Value
Device/SubDeviceList/RShoulderRoll/Position/Sensor/Value
Device/SubDeviceList/RElbowYaw/Position/Sensor/Value

Pelvis joints

../../_images/hardware_pelvisjoint.png
Joint name Motion Range (degrees) Range (radians)
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(radians):

Device/SubDeviceList/LHipYawPitch/Position/Actuator/Value
Device/SubDeviceList/RHipYawPitch/Position/Actuator/Value

Sensor(radians):

Device/SubDeviceList/LHipYawPitch/Position/Sensor/Value
Device/SubDeviceList/RHipYawPitch/Position/Sensor/Value

Left Leg joints

../../_images/hardware_llegjoint.png

Motion range

Joint name Motion Range (degrees) Range (radians)
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) -88.00 to 27.73 -1.535889 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) -22.79 to 44.06 -0.397880 to 0.769001

Access value by using ALMemory key name

Command(radians):

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(radians):

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

Anti collision limitation

Due to potential shell collision at the ankle level, the Roll motion range is limited according to the Pitch value.

LAnklePitch LAnkleRoll Min LAnkleRoll Max   LAnklePitch LAnkleRoll Min LAnkleRoll Max
(degrees) (radians)
-68.15 -2.86 4.30   -1.189442 -0.049916 0.075049
-48.13 -10.31 9.74 -0.840027 -0.179943 0.169995
-40.11 -22.80 12.61 -0.700051 -0.397935 0.220086
-25.78 -22.80 44.06 -0.449946 -0.397935 0.768992
5.73 -22.80 44.06 0.100007 -0.397935 0.768992
20.05 -22.80 31.54 0.349938 -0.397935 0.550477
52.87 0.00 2.86 0.922755 -0.000000 0.049916

Right Leg joints

../../_images/hardware_rlegjoint.png

Motion range

Joint name Motion Range (degrees) Range (radians)
RHipRoll Right hip joint right and left (X) -45.29 to 21.74 -0.790477 to 0.379472
RHipPitch Right hip joint front and back (Y) -88.00 to 27.73 -1.535889 to 0.484090
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) -44.06 to 22.80 -0.768992 to 0.397935

Access value by using ALMemory key name

Command(radians):

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(radians):

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

Anti collision limitation

Due to potential shell collision at the ankle level, the Roll motion range is limited according to the Pitch value.

RAnklePitch RAnkleRoll Min RAnkleRoll Max   RAnklePitch RAnkleRoll Min RAnkleRoll Max
(degrees) (radians)
-68.15 -4.30 2.86   -1.189442 -0.075049 0.049916
-48.13 -9.74 10.31 -0.840027 -0.169995 0.179943
-40.11 -12.61 22.80 -0.700051 -0.220086 0.397935
-25.78 -44.06 22.80 -0.449946 -0.768992 0.397935
5.73 -44.06 22.80 0.100007 -0.768992 0.397935
20.05 -31.54 22.80 0.349938 -0.550477 0.397935
52.87 -2.86 0.00 0.922755 -0.049916 0.000000
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