H25 - Contact and tactile sensors¶
See also
| Part | Location |
|---|---|
| A | Head tactile sensor |
| B | Chest button |
| C | Tactile hands |
| D | Feet bumpers |
Tactile Head¶
3 x head capacitive sensors.
| 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 |
To access values by using ALMemory key names, see: Head touch Sensors.
Chest Button¶
| Item | Sensor name | X(m) | Y(m) | Z(m) |
|---|---|---|---|---|
| A | ChestBoard/Button | 0.049871 | 0.001588 | 0.055163 |
To access values by using ALMemory key names, see: ChestBoard Sensors.
Tactile Hands¶
2 x 3 x hand capacitive (3 for each hand).
| Item | Sensor name | X(m) | Y(m) | Z(m) |
|---|---|---|---|---|
| A | LHand/Touch/Left | 0.0320 | 0.0250 | 0.0030 |
| B | LHand/Touch/Back | 0.0380 | 0.0000 | 0.0250 |
| C | LHand/Touch/Right | 0.0350 | -0.0250 | 0.0035 |
| A | RHand/Touch/Left | 0.0320 | 0.0250 | 0.0030 |
| B | RHand/Touch/Back | 0.0380 | 0.0000 | 0.0250 |
| C | RHand/Touch/Right | 0.0350 | -0.0250 | 0.0035 |
To access values by using ALMemory key names, see: Left Hand touch Sensors and Right Hand touch Sensors.
Feet Bumpers¶
2 x bumpers located at the tip of each foot. These are simple ON/OFF switches, thus 4 in total.
|
|
| Bumper name | X(m) | Y(m) | Z(m) |
|---|---|---|---|
| LFoot/Bumper/Left | 0.0876 | 0.0190 | -0.0353 |
| LFoot/Bumper/Right | 0.0876 | -0.0140 | -0.0353 |
| RFoot/Bumper/Left | 0.0876 | 0.0140 | -0.0353 |
| RFoot/Bumper/Right | 0.0876 | -0.0190 | -0.0353 |
To access values by using ALMemory key names, see: Left Foot touch Sensors and Right Foot touch Sensors.