Contact and tactile sensors

On this page
https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/naov6_tactile.png
Part Name Part Name
A Tactile Head B Tactile Hands
C Chest Button D Feet Bumpers

Tactile Head

3 x head capacitive sensors.

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/tactile_head_114.png

See the URDF file .

Item Name
A Head/Touch/Front
B Head/Touch/Middle
C Head/Touch/Rear

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

Chest Button

See the URDF file .

Name
ChestBoard/Button

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

Tactile Hands

2 x 3 x hand capacitive (3 for each hand).

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/tactile_hands_114.png

See the URDF file .

Item Name Item Name
A LHand/Touch/Left A RHand/Touch/Left
B LHand/Touch/Back B RHand/Touch/Back
C LHand/Touch/Right C RHand/Touch/Right

To access values by using ALMemory key names, see: Left Hand touch Sensors and Right Hand touch Sensors .

Feet Bumpers

2 x bumpers located at the tip of each foot. These are simple ON/OFF switches, thus 4 in total.

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_bumper_1.png https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_bumper_2.png

See the URDF file .

Name Name
LFoot/Bumper/Left RFoot/Bumper/Left
LFoot/Bumper/Right RFoot/Bumper/Right

To access values by using ALMemory key names, see: Left Foot touch Sensors and Right Foot touch Sensors .