NAOqi Motion - Overview | API
Diagnosis effect is a reflex designed to protect the robot and the user in case of a malfunctioning Joint, Actuator or Sensor.
It allows the robot to react appropriately according to the issues and errors raised by ALDiagnosis and ALBodyTemperature modules.
Depending on the Level of failure severity, the Diagnosis effect reflex may:
For example:
The diagnosis effect on the robot, depends on the device Level of failure severity, if an actuator or a sensor is detected as unusable.
Severity | Diagnosis effect on the robot |
---|---|
NEGLIGIBLE | No effect on the robot. |
SERIOUS | The Stiffness control on the Chains that includes the joint or actuator in failure is disabled and it will not be possible to reactivate it. |
CRITICAL | The robot goes to rest and refuses to wake up. So, the robot will not be usable. |
Severity | Diagnosis effect on the robot |
---|---|
NEGLIGIBLE | No effect on the robot |
SERIOUS | The reflex based on this sensor is not possible anymore so the Fall manager and the Smart Stiffness will be disabled. |
CRITICAL | The robot goes to rest and refuses to wake up. So, the robot will not be usable. |
The following table lists the hardware problems detected by ALDiagnosis, the corresponding Rest reflex and the permanent effect of the problem on ALMotion. The permanent effect stays until the error disappears.
Diagnosis type | Device | Error type | Rest reflex | Permanent effect |
---|---|---|---|---|
Motor Temperature | Wheels | Status 2 | Wheel - safe resting | Moves are forbidden. |
Status 3 | Wheel - immediate resting | Moves are forbidden. | ||
Leg | Status 2 | Body - safe resting | Wake up is forbidden. | |
Status 3 | Body - safe resting, immediate on Leg | Wake up is forbidden. | ||
Arms or Head | Status 2 | Chain - safe resting | Chain stiffness is kept at 0. | |
Status 3 | Chain - immediate resting | Chain stiffness is kept at 0. | ||
Motor board passive diagnosis | Wheels | NACKs or error code | Wheel - immediate resting | Moves are forbidden. |
Leg | Body - immediate resting | Wake up is forbidden. | ||
Arms or Head | Chain - immediate resting | Chain stiffness is kept at 0. | ||
Motor board active diagnosis | Wheel | Joint position error | Wheel - immediate resting | Moves are forbidden. |
Leg | Body - safe resting | Wake up is forbidden. | ||
Arms or Head | Chain - safe resting | Chain stiffness is kept at 0. | ||
Sensor Temperature | Fuse | Status 2 | Body - safe resting, immediate on arms | Wake up is forbidden. |
Status 3 | Body - immediate resting | Wake up is forbidden. | ||
Battery | Status 2 | Body - safe resting | Wake up is forbidden. | |
Status 3 | Body - immediate resting | Wake up is forbidden. | ||
Sensor passive diagnosis | HAL | Crashed | Body - immediate resting | Wake up is forbidden. |
ChestBoard | USB disconnection | Body - immediate resting | Wake up is forbidden. | |
Brake | Stays close | Body - immediate resting | Wake up is forbidden. | |
Stays open | Body - safe resting | Wake up is forbidden. | ||
Sensor active diagnosis | Brake | Not functioning | Body - safe resting | Wake up is forbidden. |
Elastomere | Not functioning | |||
Laser | Freeze | |||
2D Camera | Not responding | |||
3D Camera | Not responding | |||
Audio | Not functioning | |||
Inertial | Not responding | |||
Sonar | Freeze | No effect | ||
Bumper | Blocked |
Name | Description |
---|---|
Wheels - Safe resting | The wheels are stopped gently. |
Wheels - Immediate resting | The wheels are stopped immediately. |
Chain - Safe resting | The chain goes to a safe posture, then chain stiffness is set to 0. Chain can be “RArm”, “LArm”, “Head”. |
Chain - Immediate resting | The chain stiffness is set to 0 immediately. Chain can be “RArm”, “LArm”, “Head”. |
Body - Safe resting | The wheels are stopped gently. The robot goes to a safe posture, then stiffness is set to 0. |
Body - Immediate resting | The wheels are stopped immediately. The robot stiffness is set to 0 immediately. |
Body - Slumping and resting | The wheels are stopped gently. The robot goes to a safe Crouch posture, then stiffness is set to 0. |
Body - Safe resting, Immediate on Arms | The wheels are stopped gently. Arm stiffness is set to 0 immediately. The leg and head go to a safe posture then stiffness is set to 0. |
Body - Safe resting, Immediate on Leg | The wheels are stopped immediately. Leg stiffness is set to 0 immediately. The arms and head go to a safe posture then stiffness is set to 0. |