Contact and tactile sensors

Buttons

Part	Name	Location
A	Chest button	Under the tablet.
B	Stop button	Between the shoulders.

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

Tactile sensors

Part	Name
A	Head tactile sensor
B	Tactile Hands

Head tactile sensor

Item	Sensor name	X(m)	Y(m)	Z(m)
A	Head/Touch/Front	0.0275	0.0000	0.1245
B	Head/Touch/Middle	-0.0040	0.0000	0.1250
C	Head/Touch/Rear	-0.0330	0.0000	0.1245

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

Tactile Hands

Sensor name	X(m)	Y(m)	Z(m)
LHand/Touch/Back	0.0523	0	0.0304
RHand/Touch/Back	0.0523	0	0.0304

To access values by using ALMemory key names, see: LHand and RHand.

Bumpers

The robot is equipped with 3 bumpers.

Position relative to KneePitch.

Part	Location	Name	X(m)	Y(m)	Z(m)	WX(deg)	WY(deg)	WZ(deg)
A	Front Right	BumperFR	0.12900	-0.22700	-0.26400	-0.00000	-0.00000	-28.00000
B	Front Left	BumperFL	0.12900	0.22700	-0.26400	0.00000	-0.00000	28.00000
C	Back	BumperB	-0.25100	0.00000	-0.26400	0.00000	-0.00000	-180.00000

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