Pepper - Sonars


Specification

The robot is equipped with two ultrasonic sensors (or sonars) which allow it to estimate the distance to obstacles in its environment.

Sonar: 2 actuators, 2 sensors.

Frequency 42kHz
Sensitivity -86dB
Resolution 0.03 m
Detection range

0,15 m - 6,45 m

Operational on 0.15 m - 2.5 m

Effective cone 60°

Location

../../_images/sonar.png

Position relative to KneePitch.

Part Location Name X(m) Y(m) Z(m) WX(deg) WY(deg) WZ(deg) VFOV HFOV
A Front SonarF 0.06990 0.00000 -0.10230 0.00000 -18.49840 0.00000 60 ° 60 °
B Back SonarB -0,07180 0.00000 -0,05340 -0.00000 -12.00000 180.00000

To access values by using ALMemory key names, see: Sonars.