Aldebaran Robotics NAO Specifications





INTEL ATOM INSIDE


ENHANCED AUDIO AND VISUAL CAPABILITIES


NATURAL MOTION REFLEXES


  • Fully programmable, open and autonomous: make the most of a full integration of state-of-the-art hardware and software
  • Easy to use and understand: achieve better project results and improve learning effectiveness
  • Attractive and motivating: highly increase and catch audience attention


ENHANCED VISION AUDIO CAPABILITIES


  • Camera

    Thanks to improved camera sensors, we provide higher sensitivity in VGA for better low light perception. For image processing work on the robot CPU, you can use up to 30 images/second in HD resolution. NAO can move the head by 239°horizontally and by 68° vertically, and his camera can see at 61° horizontally and 47°vertically. Result : NAO has a great capacity to sense his environment.
  • Object Recognition

    NAO has the capacity to recognize a large quantity of objects. Once the object is saved thanks to Choregraphe software, if he sees it again, NAO is able to recognize and say what it is.
  • Face Detection and Recognition

    It's one of the best known features for interaction. NAO can detect and learn a face in order to recognize it next time.
  • Text to Speech

    NAO is able to speak up to 9 languages. With a "say box" in Choregraphe you can insert text and modify voice parameters as you wish. NAO will say the text correctly, with the right punctuation and intonation.
  • Automatic Speech Recognition

    Speech recognition is at the heart of intuitive humanrobot interaction. That’s why we have chosen the best technological partner, Nuance, to develop stable and powerful speech recognition. NAO is now able to hear you from 2 meters away, recognize a complete sentence or just few words in the sentence. The result: more fluidity and natural conversations.
  • Sound Detection and Localization

    Our environment is made of sounds that NAO, like us, is able to detect and localize in the space thanks to microphones all around his head.




NATURAL MOTION REFLEXES


  • Smart Stiffness

    A unique feature which automatically adapts the power needed by the motors during the movements of the robot. Result: better use of the drive components as well as energy savings for the battery.
  • Fall Manager

    NAO may fall, but we taught him how to stand up by himself. We went even further and provided him with a fall detection system: before hitting the ground, NAO protects himself with his arms.
  • Anti Self collision

    This motion feature prevents NAO's arms from colliding with the rest of his body. NAO always knows the position of his head, torso, legs and arms: he avoids accidental and unwanted limb collisions.
  • Resource Manager

    NAO's biggest challenge is to merge and order conflicting commands. He's able to interrupt/stop or adjust the behavior in progress before executing a new required behavior




ELECTRICAL


INPUT 100 to 240 Vac - 50/60Hz - Max 2A
OUTPUT 25.2 Vdc - 2A
BATTERY Type Lithium-Ion
  Nominal voltage/capacity 21.6V / 1.28Ah
  Max charge voltage 24.9V
  Recommended charge current 1.28A
  Max charge/discharge current 3.0A / 2.0A
  Energy 27.6Wh
  Charging duration 2h
  Autonomy 60min (Active use) 90min (Normal use)

MOTHER BOARD


CPU
PROCESSOR
ATOM Z530  
  Cache memory 512KB
  Clock speed 1.6Ghz
  FSB speed 533mHz
RAM 1GB
FLASH MEMORY 2GB
MICRO SDHC 8GB

CONNECTION


ETHERNET 1×RJ45 - 10/100/1000 base T
WIFI IEEE 802.11b/g

AUDIO


LOUDSPEAKERS x2 lateral  
  Diameter 36mm
  Impedance 8ohms
  Sp level 87dB/w +/- 3dB
  Freq range up to ~20kHz
  Input 2W
MICROPHONE ×4 on the head*  
  Sensitivity ~40 +/-3dB
  Frequency range 20Hz-20kHz
  Signal/noise ratio 58dBA

IR


NUMBER x2 on front
WAVELENGTH 940nm
EMISSION ANGLE +/-60°
POWER 8mW/sr

INERTIAL UNIT


GYROMETER x2  
  Axis 1 per gyrometer
  Precision 5%
  Angular speed ~500°/s
ACCELEROMETER x1  
  Axis 3
  Precision 1%
  Acceleration ~2g

SOFTWARE


OPEN NAO Embeded GNU/Linux
Distribution based on Gentoo
ARCHITECTURE x86
PROGRAMMING Embedded: C++ / Python
Remote: C++ / Python / .NET / Java / MatLab

CONTACT SENSOR


Chest Button
Bumper
Tactile Head
Tactile Hand

CONSTRUCTION


DIMENSION (HxDxW) 573×275×311mm / 22.5x10.8x12.2 inch
WEIGHT 5.2kg / 11.4 lb
CONSTRUCTION MATERIAL ABS-PC / PA-66 / XCF-30

LANGUAGES


TEXT TO SPEECH English, French, Spanish, German, Italian, Chinese, Japanese, Korean, Portuguese
AUTOMATIC SPEECH RECOGNITION English, French, Spanish, German, Italian, Chinese, Japanese, Korean

VISION


CAMERAS x2 front
Sensor model MT9M114
Sensor type SOC Image Sensor
IMAGING ARRAY Resolution 1.22MP
  Optical format 1/6inch
  Active Pixels (HxV) 1288×968
SENSITIVITY Pixel size 1.9μm
  Dynamic range 70dB
  Signal/Noise ratio (max) 37dB
  Responsivity 2.24 V/lux-sec (960p) 8.96 V/lux-sec (VGA)
OUTPUT Camera output 960p@30fps
  Data Format YUV422
  Shutter type ERS (Electronic Rolling Shutter)
VIEW Field of view 72.6°DFOV (60.9°HFOV,47.6VFOV)
  Focus range 30cm ~ infinity
  Focus type Fixed focus

FRAMERATE

Resolution Local Gigabit Ethernet 100Mb Ethernet Wifi g
160×120px 30fps 30fps 30fps 30fps
320×240px 30fps 30fps 30fps 11fps
640×480px 30fps 30fps 12fps 2.5fps
960p 29fps 10fps 3fps 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.


SONAR


EMITTERS x2 on front
RECEIVERS x2 on front
FREQUENCY 40kHz
SENSITIVITY -86dB
RESOLUTION 1cm
DETECTION RANGE 0.25mm to 2.55m
EFFECTIVE CONE 60°

FSR ( FORCE SENSITIVE RESISTORS )


RANGE 0 to 110N
x4 per feet

POSITION SENSORS


MRE (Magnetic Rotary Encoder) x36
  Using hall effect sensor technology
Precision : 12bits / 0.1°

LEDs


EMPLACEMENT QUANTITY DESCRIPTION
Tactile Head ×12 16 Blue levels
Eyes 2×8 RGB FullColor
Ears 2×10 16 Blue levels
Chest button ×1 RGB FullColor
Feet 2×1 RGB FullColor

DEGREES OF FREEDOM


HEAD x2 DOF
ARM (in each) x5 DOF
PELVIS x1 DOF
LEG (in each) x5 DOF
HAND (in each) x1 DOF




MOTOR TYPE Brush DC Coreless

POSITION OF MOTORS


    MOTOR REDUCTION RATIO
HEAD JOINTS HeadYaw Type 3 Type A
  HeadPitch Type 3 Type B
       
ARM JOINTS ShoulderPitch Type 3 Type A
  ShoulderRoll Type 3 Type B
  ElbowYaw Type 3 Type A
  ElbowRoll Type 3 Type B
WristYaw Type 2 Type C
  Hand* Type 2 Type D
       
LEG JOINTS HipYawPitch Type 1 Type A
  HipRoll Type 1 Type A
  HipPitch Type 1 Type B
  KneePitch Type 1 Type B
  AnklePitch Type 1 Type B
  AnkleRoll Type 1 Type A

DESCRIPTION OF THE MOTORS


  MOTOR TYPE 1 MOTOR TYPE 2 MOTOR TYPE 3
Model 22NT82213P 17N88208E 16GT83210E
No load speed 8300rpm ±10% 8400rpm ±12% 10700rpm ±10%
Stall torque 68mNm ±8% 9,4mNm ±8% 14,3mNm ±8%
Continous torque 16.1mNm max - 6.2mNm max

SPEED REDUCTION RATIO

TYPE A

  MOTOR TYPE 1 MOTOR TYPE 3
Reduction ratio 201.3 150.27

SPEED REDUCTION RATIO

TYPE C

  MOTOR TYPE 2  
Reduction 50.61  



SPEED REDUCTION RATIO

TYPE B

  MOTOR TYPE 1 MOTOR TYPE 3
Reduction ratio 130.85 173.22


SPEED REDUCTION RATIO

TYPE D

  MOTOR TYPE 2  
Reduction ratio 36.24  



CERTIFICATIONS & APPROVALS

REGION CLASSIFICATION
Europe CE (Declaration of Conformity)
USA FCC
ELECTROMAGNETIC COMPATIBILITY EN 301 489-1 / EN 301 489-17 / EN 300 328
  EN 62311 : 2008 / FCC PART15, Class A
SAFETY IEC 60950-1:2005 (2nd edition)


Copyright © 2014 Aldebaran-Robotics