Sonar: 2 emitters, 2 receivers.
NAO is equipped with two ultrasonic sensors (or sonars) which allow it to estimate the distance to obstacles in its environment.
|NAO V4 and V3.x||
The detection range goes from 25 cm to 255 cm, but under 25 cm there is no distance information, the robot only knows that an object is present.
Position relative to the Torso frame.
|US sensor 1||0.0537||-0.0341||0.0698||0.0||-0.1745 [-10.0]||-0.3490 [-20.0]|
|US sensor 2||0.0477||-0.0416||0.0509||0.0||0.2618 [15.0]||-0.4363 [-25.0]|
To access values by using ALMemory key names, see: Sonar Actuator and Sensors.
We adopt the roll, pitch and yaw notation for angle representation. So, to construct an homogeneous transform with rotation (Wx,Wy,Wz) use T=rotZ(Wz)*rotY(Wy)*rotX(Wx)
- US sensor 3 is symmetrical to US sensor 1 with respect to sagittal plane of the robot.
- US sensor 4 is symmetrical to US sensor 2 with respect to sagittal plane of the robot.