T14 - Joints - V3.3

See also

V4 | V3.3 | V3.2

NAO T14 | Joints


Sign convention

Given a joint that links two body parts of the robot, the body part that is closer to the trunk is considered to be fixed and the body part that is farther from the trunk is the one that rotates around the joint axis.

To perform the rotation of the body parts, we place a frame at each joint. When the robot is at the zero pose, all joint frames have the same orientation. Then, roll rotations take place around the X axis, pitch rotations around the Y axis and yaw rotations around the Z axis.

/sites/default/files/repository/69_html_nao/_images/rollPitchYaw.png

Head joints

/sites/default/files/repository/69_html_nao/_images/hardware_headjoint_3.3.png

Motion range

Joint name Motion Range (degrees) Range (radians)
HeadYaw Head joint twist (Z) -119.5 to 119.5 -2.0857 to 2.0857
HeadPitch Head joint front and back (Y) -38.5 to 29.5 -0.6720 to 0.5149
Click the joint name to see all related ALMemory key names.

Anti collision limitation

Due to potential shell collision at the head level, the Pitch motion range is limited according to the Yaw value.

HeadYaw HeadPitch Min HeadPitch Max   HeadYaw HeadPitch Min HeadPitch Max
(degrees) (radians)
-119.52 -25.73 18.91   -2.086017 -0.449073 0.330041
-87.49 -18.91 11.46 -1.526988 -0.330041 0.200015
-62.45 -24.64 17.19 -1.089958 -0.430049 0.300022
-51.74 -27.50 18.91 -0.903033 -0.479965 0.330041
-43.32 -31.40 21.20 -0.756077 -0.548033 0.370010
-27.85 -38.50 24.18 -0.486074 -0.671951 0.422021
0.0 -38.50 29.51 0.000000 -0.671951 0.515047
27.85 -38.50 24.18 0.486074 -0.671951 0.422021
43.32 -31.40 21.20 0.756077 -0.548033 0.370010
51.74 -27.50 18.91 0.903033 -0.479965 0.330041
62.45 -24.64 17.19 1.089958 -0.430049 0.300022
87.49 -18.91 11.46 1.526988 -0.330041 0.200015
119.52 -25.73 18.91 2.086017 -0.449073 0.330041

Left Arm joints

/sites/default/files/repository/69_html_nao/_images/hardware_larmjoint_3.3.png
Joint name Motion Range (degrees) Range (radians)
LShoulderPitch Left shoulder joint front and back (Y) -119.5 to 119.5 -2.0857 to 2.0857
LShoulderRoll Left shoulder joint right and left (Z) -18 to 76 -0.3142 to 1.3265
LElbowYaw Left shoulder joint twist (X) -119.5 to 119.5 -2.0857 to 2.0857
LElbowRoll Left elbow joint (Z) -88.5 to -2 -1.5446 to -0.0349
LWristYaw Left wrist joint (X) -104.5 to 104.5 -1.8238 to 1.8238
LHand Left hand Open and Close Open and Close
Click the joint name to see all related ALMemory key names.

Right Arm joints

/sites/default/files/repository/69_html_nao/_images/hardware_rarmjoint_3.3.png
Joint name Motion Range (degrees) Range (radians)
RShoulderPitch Right shoulder joint front and back (Y) -119.5 to 119.5 -2.0857 to 2.0857
RShoulderRoll Right shoulder joint right and left (Z) -76 to 18 -1.3265 to 0.3142
RElbowYaw Right shoulder joint twist (X) -119.5 to 119.5 -2.0857 to 2.0857
RElbowRoll Right elbow joint (Z) 2 to 88.5 0.0349 to 1.5446
RWristYaw Right wrist joint (X) -104.5 to 104.5 -1.8238 to 1.8238
RHand Right hand Open and Close Open and Close
Click the joint name to see all related ALMemory key names.