ELECTRICAL
CONSTRUCTION
Input
Output
Battery
Dimension
(HxDxW)
Weight
Construction
material
100 to 240 Vac 50/60Hz Max 1.2A
Max 1.2A 25.2 Vdc 2A
Type
Lithium-Ion
Nominal voltage/capacity 21.6V / 2.25
Max charge voltage
25.2V
Recommended charge
1.8A
current
Max charge / discharge
2.3A / 2.0A
current
Energy
48.6Wh
Charging duration
5h
Autonomy
60min
574x275x311mm / 22.6x10.8x12.2 inch
5.4kg / 11.9 lb
ABS-PC/PA-66/XCF-30
LANGUAGES
Text to speech
& Automatic
speech
Recognition
(Active use)
Czech, Danish, Dutch, English, Finnish,
French, German, Italian, Japanese,
Korean, Polish, Portuguese, Spanish,
Swedish, Russian, Turkish, Arabic,
Brazilian, Chinese
90 min
(Normal use)
VISION
MOTHER BOARD
CPU
RAM
Flash
memory
Micro
SDHC
CPU processor
Cache memory
Clock speed
FSB speed
ATOM Z530
512KB
1.6GHZ
533mHz
1GB
2GB
Cameras
Sensor model
Sensor type
Imaging
array
Sensitivity
8GB
CONNECTION
Ethernet
WIFI
1RJ45 - 10/100/1000 BASE T
IEEE 802.11b/g/n
2 lateral
Diameter
Impedance
Sp level
Freq range
Input
Microphones 4 on the head
Sensitivity
Frequency range
Signal/noise ratio
36mm
8ohms
87dB/w +/- 3dB
up to ~20kHz
2W
43 db +/-3dB
150Hz-12kHz
58dBA
1.22MP
1/6inch
1288968
1.9m
70dB
37dB
2.24 V/lux-sec
(960p)
8.96 V/lux-sec
(VGA)
Output
Camera output
Data Format
Shutter type
960p@30fps
YUV422
ERS (Electronic
Rolling Shutter)
View
Field of view
72.6DFOV
(60.9HFOV,
47.6VFOV)
30cm ~ infinity
Fixed focus
AUDIO
Loud
Speakers
2 on front
MT9M114
SOC Image Sensor
Resolution
Optical format
Active Pixels (HV)
Pixel size
Dynamic range
Signal/Noise ratio (max)
Responsivity
Focus range
Focus type
Framerate
Resolution
160120px
320240px
640480px
1280960px
Embedded
30fps
30fps
30fps
29fps
Gigabit Ethernet
30fps
30fps
30fps
10fps
100Mb Ethernet
30fps
30fps
12fps
3fps
Wifi g
30fps
11fps
2.5fps
0.5fps
Note: using the video stream in remote highly depends on the
network and the video resolution chosen. All frame rates depend
on the CPU usage. Values are calculated with a CPU fully dedicated
to images gathering.
IR
Number
Wavelength
Emission
Angle
Power
SONAR
2 on front
940nm
+/-60
8mW/sr
FSR (FORCE SENSITIVE RESISTORS)
Range
0 to 110N
4 per feet
POSITION SENSORS
MRE
(Magnetic
Rotary
Encoder)
36
Using hall effect sensor technology
Precision: 12bits / 0.1
Emitters
Receivers
Frequency
Sensitivity
Resolution
Detection
Range
Effective
Cone
Architecture
Programming
Embedded GNU/Linux
Distribution based on Gentoo
86
Embedded: C++ / Python
Remote: C++ / Python / .NET / Java /
MatLab
CONTACT SENSOR
Chest Button
Foot Bumper
Tactile Head
Tactile Hand
60
INERTIAL UNIT
Gyrometer
Accelerometer
SOFTWARE
Open Nao
2 on front
2 on front
40kHz
-86dB
1cm
0.05m to 3m
1
Axis
Precision
Angular speed
3
5%
~500/s
1
Axis
Precision
Acceleration
3
1%
~2g
LEDS
Placement
Tactile Head
Eyes
Ears
Chest button
Feet
Quantity
12
28
210
1
21
DEGREES OF FREEDOM
Head
Arm (in each)
Pelvis
Leg (in each)
Hand (in each)
Making interactive robots for the well being of humans
2 dof
5 dof
1 dof
5 dof
1 dof
Description
16 Blue levels
RGB FullColor
16 Blue levels
RGB FullColor
RGB FullColor
MOTOR SPECIFICATIONS
Motor type
Brush DC Coreless
HeadYaw [3][A]
HeadPitch [3][B]
POSITION OF MOTORS
Head joints
Arm joints
Leg joints
HeadYaw
HeadPitch
ShoulderPitch
ShoulderRoll
ElbowYaw
ElbowRoll
WristYaw
Hand
HipYawPitch
HipRoll
HipPitch
KneePitch
AnklePitch
AnkleRoll
Motor
Type 3
Type 3
Type 3
Type 3
Type 3
Type 3
Type 2
Type 2
Type 1
Type 1
Type 1
Type 1
Type 1
Type 1
ShoulderPitch [3][A]
ShoulderRoll [3][B]
Reduction Ratio
Type A
Type B
Type A
Type B
Type A
Type B
Type C
Type D
Type A
Type A
Type B
Type B
Type B
Type A
ElbowYaw [3][A]
ElbowRoll [3][B]
HipYawPitch [1][A]
WristYaw [2][C]
Hand [2][D]
HipRoll [1][A]
HipPitch [1][B]
KneePitch [1][B]
DESCRIPTION OF THE MOTORS
Model
No load speed
Stall torque
Continuous
torque
Motor type 1
22NT82213P
8300rpm 10%
68mNm 8%
16.1mNm max
Motor type 2
17N88208E
8400rpm 12%
9.4mNm 8%
4.9mNm max
Motor type 3
16GT83210E
10700rpm 10%
14.3mNm 8%
6.2mNm max
Speed Reduction Ratio TYPE A
Reduction ratio
Motor type 1
201.3
Legend:
Joint Name[Motor Type][Reductor Type]
Speed Reduction Ratio TYPE B
Motor type 3
150.27
Reduction ratio
Speed Reduction Ratio TYPE C
Reduction ratio
AnklePitch[1][B]
AnkleRoll[1][A]
Motor type 1
130.85
Motor type 3
173.22
Speed Reduction Ratio TYPE D
Motor type 2
50.61
Reduction ratio
Motor type 2
36.24
CERTIFICATIONS & APPROVALS
Region
Europe
USA
Classification
CE (Attestation of conformity)
FCC
Electromagnetic compatibility
EN 301-1 / EN 301 489-17 / EN 300 328
EN 62311 : 2008 / FCC PART15, Class B
Safety
IEC 60950-1 : 2005 (2nd edition)
Making interactive robots for the well being of humans
