What it does ¶
The ALFSR module generates the event footContactChanged() whenever the foot contact changes.
- If the Aldebaran robot has at least one foot on the ground, the event is raised with the value True
- If the Aldebaran robot has no feet on the ground, the event is raised with the value False
How it works ¶
NAO has four FSRs under each foot.
The aim of these sensors is to determine whether the Aldebaran robot’s feet are touching the ground or not. This information is used during the walk, where at least one foot must maintain contact with the ground while walking, otherwise the walk is stopped.
For more details, see Kill the walk task when the robot is lifted.