Post on 24-Oct-2014
Hardware PlatformNAO is a programmable, 57-cm tall humanoid robot with the following key components:
Body with 25 degrees of freedom (DOF) whose key elements are electric motors and actuators
Sensor network, including 2 cameras, 4 microphones, sonar rangefinder, 2 IR emitters and receivers, 1 inertial
board, 9 tactile sensors, and 8 pressure sensors
Various communication devices, including voice synthesizer, LED lights, and 2 high-fidelity speakers
Intel ATOM 1,6ghz CPU (located in the head) that runs a Linux kernel and supports Aldebaran’s proprietary
middleware (NAOqi)
Second CPU (located in the torso) 27,6-watt-hour battery that provides NAO with 1.5 or more hours of autonomy, depending on usage
AudioNAO uses four microphones to track sounds, and its voice recognition and text-to-speech capabilities allow it to communicate in 8 languages.
Sound Source Localization
One of the main purposes of humanoid robots is to interact with people. Sound localization allows a robot to identify the direction of sounds. To produce robust and useful outputs while meeting CPU and memory requirements, NAO sound source localization is based on an approach known as “Time Difference of Arrival.”
When a nearby source emits a sound, each of NAO’s four microphones receives the sound wave at slightly different times.
For example, if someone talks to NAO on its left side, the corresponding sound wave first hits the left microphones, then the front and rear microphones a few milliseconds later, and finally the right microphone.
These differences, known as interaural time difference (ITD), can then be mathematically processed to determine the current location of the emitting source.
By solving the equation every time it hears a sound, NAO can determine the direction of the emitting source (azimuthal and elevation angles) from ITDs between the four microphones.
This feature is available as a NAOqi module called ALAudioSourceLocalization; it provides a C++ and Python API that allows precise interactions with a Python script or NAOqi module.
Sound Source Localization
Audio Signal Processing
Two Choregraphe boxes that allow easy use of the feature inside a behavior are also available:
Possible applications include:
Human Detection, Tracking, and Recognition
Noisy Object Detection, Tracking, and Recognition
Speech Recognition in a specific direction
Speaker Recognition in a specific direction
Remote Monitoring/Security applications
Entertainment applicationsAudio Signal Processing
In robotics, embedded processors have limited computational power, making it useful to perform some calculations remotely on a desktop computer or server.
This is especially true for audio signal processing; for example, speech recognition often takes place more efficiently, faster, and more accurately on a remote processor. Most modern smartphones process voice recognition remotely.
Users may want to use their own signal processing algorithms directly in the robot.
The NAOqi framework uses Simple Object Access Protocol (SOAP) to send and receive audio signals over the Web.
Sound is produced and recorded in NAO using the Advanced Linux Sound Architecture (ALSA) library.
The ALAudioDevice module manages audio inputs and outputs.
Using NAO’s audio capabilities, a wide range of experiments and research can take place in the fields of communications and human-robot interaction.
For example, users can employ NAO as a communication device, interacting with NAO (talk and hear) as if it were a human being.
Signal processing is of course an interesting example. Thanks to the audio module, you can get the raw audio data from the microphones in real time and process it with your own code.
Tactile SensorsBesides cameras and microphones, NAO is fitted with capacitive sensors positioned on top of its head in three sections and on its hands.
You can therefore give NAO information through touch: pressing once to tell it shut down, for example, or using the sensors as a series of buttons to trigger an associated action.
The system comes with LED lights that indicate the type of contact. You can also program complex sequences.
Tactile Sensors
Human robot interaction
Sonar RangefindersNAO is equipped with two sonar channels: two transmitters and two receivers.
They allow NAO to estimate the distances to obstacles in its environment. The detection range is 0–70 cm.
Less than 15 cm, there is no distance information; NAO only knows that an object is present.
ConnectivityEthernet and Wi-Fi
NAO currently supports Wi-Fi (a, b, and g) and Ethernet, the most widespread network communication protocols. In addition, infrared transceivers in the eyes allow connection to objects in the environment. NAO is compatible with the IEE 802.11g Wi-Fi standard and can be used on both WPA and WEP networks, making it possible to connect to most home and office networks. NAO's OS supports both Ethernet and Wi-Fi connections and requires no Wi-Fi setup other than entering the password.
NAO's ability to connect to networks offers a wide range of possibilities. You can pilot and program NAO using any computer on the network.
Here are a few examples of applications NAO users have already created:
Based on NAO's IP address, NAO can figure out its location and give you a personalized weather report.
Ask NAO about a topic and it connects to Wikipedia and read you the relevant entry.
Connect NAO to an audio stream and it plays an Internet radio station for you.Using XMPP technology (like in the Google Chat system), you can control NAO remotely and stream video from its cameras.
Infrared
Using infrared, NAO can communicate with other NAOs and other devices that support infrared. You can configure NAO to use infrared to control other devices (“NAO, please turn on the TV”). In addition, NAO can also receive instructions from infrared emitters, such as remote controls. And of course, two NAOs can communicate with each other directly.
Infrared is already the most common method of controlling appliances, making NAO easily adaptable to domotics applications. NAO can also detect whether an infrared signal received is coming from the left or right.
Open SourceWith over five years of experience in developing embedded systems for robotics platforms, Aldebaran Robotics is sharing its cross-platform build tools, the core communication library, and other essential modules with researchers, developers, and emerging projects in humanoid robotics.
By capitalizing on Aldebaran Robotics's extensive experience, users can concentrate their efforts on creating innovative and exciting applications.
In addition, users benefit from the strong innovation that characterizes the growing NAO community.
Robotics and its associated applications are still emerging fields of research.
Collaboration in exploring future applications and ongoing exchange within our user community are essential.
H25Secondary Education / Higher Education & Research editions
ALL PURPOSE HUMANOID ROBOT
INTEL ATOM PROCESSOR
ENHANCED AUDIO AND VISUAL CAPABILITIES
NATURAL MOTION REFLEXES
KEY BENEFITS
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
USE CASES
STEM (Science, Technology, Engineering and Mathematics) training and exercises
Scientific researches in autism, personal assistance…
Communication tool for events such as opening house days
ENHANCED VISION AUDIO CAPABILITIES
CameraThanks 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 RecognitionNAO 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 RecognitionIt'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 SpeechNAO 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 RecognitionSpeech 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 LocalizationOur 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 StiffnessA 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 ManagerNAO 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 collisionThis 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 ManagerNAO'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 1.2A
OUTPUT 25.2 Vdc - 2A
BATTERY Type Lithium-Ion
Nominal voltage/capacity 21.6V / 2.15Ah
Max charge voltage 24.9V
Recommended charge current 2A
Max charge/discharge current 3.0A / 2.0A
Energy 27.6Wh
Charging duration 5h
Autonomy 60min (Active use) 90min (Normal use)
MOTHER BOARD
CPUPROCESSOR 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
LOUD
SPEAKERSx2 lateral
Diameter 36mm
Impedance 8ohms
Sp level87dB/w
+/- 3dB
Freq rangeup to
~20kHz
Input 2W
MICROPHONE ×4 on the head
Sensitivity~40
+/-3dB
Frequency range20Hz-
20kHz
Signal/noise ratio 58dBA
IR
NUMBER x2 on front
WAVELENGTH 940nm
EMISSION ANGLE +/-60°
POWER 8mW/sr
INERTIAL UNIT
GYROMETER x2
Axis1 per
gyrometer
Precision 5%
Angular speed ~500°/s
ACCELEROMETER x1
Axis 3
Precision 1%
Acceleration ~2g
SOFTWARE
OPEN NAOEmbeded GNU/LinuxDistribution based on Gentoo
ARCHITECTURE x86
PROGRAMMINGEmbedded: C++ / PythonRemote: C++ / Python / .NET / Java / MatLab
CONTACT SENSOR
H25
Chest Button X
Foot Bumper X
Tactile Head X
Tactile Hand X
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
SPEACH
English, French, Spanish, German, Italian, Chinese, Japanese, Korean, Portuguese
AUTOMATIC SPEECH RECOGNITION
English, French, Spanish, German, Italian, Chinese, Japanese, Korean
VISION
CAMERAS x2 on 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
Responsivity2.24 V/lux-sec (960p) 8.96 V/lux-sec (VGA)
OUTPUT Camera output 960p@30fps
Data Format YUV422
Shutter typeERS (Electronic Rolling
Shutter)
VIEW Field of view72.6°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 0.25m to 2.55m
EFFECTIVE CONE 60°
FSR ( FORCE SENSITIVE RESISTORS )
RANGE0 to 110Nx4 per feet
POSITION SENSORS
H21 H25
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
H25
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
MOTORREDUCTION 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
*Only on H25 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%
Continuous torque 16.1mNm max 4.9mNm max 6.2mNm max
SPEED REDUCTION RATIOTYPE A
MOTOR TYPE 1 MOTOR TYPE 3
Reduction ratio 201.3 150.27
SPEED REDUCTION RATIOTYPE C
MOTOR TYPE 2
Reduction 50.61
SPEED REDUCTION RATIOTYPE B
MOTOR TYPE 1 MOTOR TYPE 3
Reduction ratio 130.85 173.22
SPEED REDUCTION RATIOTYPE 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)
©2011/2012 Aldebaran Robotics. December 2011.Data are subject to change without notice.
Download NAO Datasheet H25
v1.12.3Release NotesChangelog
NAO V. 3.3 and V. 4.0
Dimensions are specified in millimeters.
NAO V. 3.2
Dimensions are specified in millimeters.