TABLE OF CONTENTS
| GENERAL | |||
| Physical information | Robot size | See diagrams on top | |
| Packaging size (HxWxL) | 1400 x 580 x 580 mm 55.1 x 22.8 x 22.8 in | ||
| Weight | 29.6 kg / 65.2 lb Robot only | ||
| Weight including packaging | + 0.295 kg with Plate 180° + 1 kg with Plate 360° + 1.280 kg with Accessory Plate | ||
| Working environment | Working temperature range | 5 °C to 35 °C 41 °F to 140 °F | |
| Working humidity range | 20% to 80% | ||
| IP protection class | IPX0 | ||
| Storage conditions | Storage temperature range | 5 °C to 45 °C 41 °F to 113 °F | |
| Battery use environment | Robot storage at 25°C | Battery run time loss | 20% / year |
| Self discharging | 3.5% / month | ||
| Battery run time | Minimum | 7 hours | |
| Typical | 12 hours | ||
| Maximum | 20 hours | ||
| Charging duration when the robot is off (approx. starting from low battery level) | 0 to 100% | 8 hours and 20 min | |
| ENERGY | ||
| Robot battery | ||
| Type | Cylindrical cells | Lithium-Ion (NMC) - 18650 secondary cell model. |
| Voltage | Nominal voltage | 26.46 V |
| Minimum voltage | 26.46 V | |
| Maximum charge voltage | 29.4 V | |
| Current | Typical charging current | 8 A |
| Capacity | Typical capacity | 30 Ah |
| Working Temperature | Charging | 10 to 35 °C 50 to 95° F |
| Battery charger | ||
| Input voltage range | 100-240 V AC | |
| Charger input frequency of AC | 47 to 69 Hz | |
| Output voltage | 28.6 V DC | |
| Output max. current | 8 A | |
| Cable length | DC | 1.85 m 6.1 ft |
| Temperature cut off | 90°C 194°F | |
| Working temperature range | 5°C to 35°C 41°F to 95°F | |
| Working humidity range | 80% max. | |
| Storage temperature range | -20°C to 70°C -4°C to 158°F | |
| Storage humidity range | 5% to 95% | |
| BRAIN SYSTEM | |
| CPU Module | |
| Processor | Intel ATOM® E3845 Formerly Bay Trail |
| CPU | Quad core |
| Clock speed | 1.91 GHz |
| Adjusted Peak Performance (APP) | 0.00344 WT |
| RAM | 4 GB DDR3 |
| Flash memory | 32 GB eMMC |
| MOTION | |||
| Degrees of freedom UP |  | ||
Head | Axis | ||
| HeadYaw | -119.5° to +119.5° | ||
| - 2.09 rad to +2.09 rad | |||
| HeadPitch | -40.5° to +25.5° | ||
| -0.71 rad to +0.45 rad | |||
| Arms (x2) | ShoulderPitch | -119.5° to +119.5° | |
| - 2.09 rad to +2.09 rad | |||
 | |||
| ShoulderRoll | +0.5° to +89.5° | ||
| +0.01 rad to +1.56 rad | |||
| ElbowYaw | -119.5° to +119.5° | ||
| - 2.09 rad to +2.09 rad | |||
| ElbowRoll | -89.5° to -0.5° | ||
| -1.56 rad to -0.01 rad | |||
| Hands (x2) | WristYaw | -104.5° to +104.5° | |
| -1.82 rad to +1.82 rad | |||
 |  |
 |
| Degrees of freedom DOWN | ||
Leg | Axis | |
| HipRoll | -29.5° to +29.5° | |
| -0.51 rad to +0.51 rad | ||
| HipPitch | -59.5° to +59.5° | |
| -1.04 rad to +1.04 rad | ||
| KneePitch | -29.5° to +29.5° | |
| -0.51 rad to +0.51 rad | ||
| Base | WheelFL (Front Left) | Omnidirectional mobile base on three wheels |
| WheelFR (Front Right) | ||
| WheelB (Back) | ||
 |  |
| Displacement | |
Approx. max. wheel speed | 2 km/h 1.2 mph |
| Max. obstacle height | 1.5 cm 0.6 cm with plates |
| Max. slope | 5° (on slope at rest) |
| STABILITY | |
| Fall down prevention | |
| Front Coverage | Front stability upgrade |
Front, Right and Left Coverage | Front left and right stability upgrade coverage |
 |  |  |
| HUMAN INTERACTION | ||||||
 | ||||||
| Screen | Audio | |||||
| Size | 246 x 175 x 14.5 mm 9.68 x 6.89 x 0.57 in | Loudspeakers | Location | The two loudspeakers are located in each ear (A-B). | ||
| CPU | 1.3 GHz quad-core ARM Cortex-A7 | Impedance | 8 Ω | |||
| Adjusted Peak Performance (APP) | 0.003156 WT | Max. SPL | 74 dB/W/m | |||
| DDR3 SDRAM | 1 GB | Frequency response | 400 Hz to 9 kHz (-6 dB) | |||
| Flash memory | 32 GB eMMC | Output power | 7 W RMS | |||
| LCD | Type | IPS | Microphones | Location | The four microphones are located on the head (A-B-C-D). | |
| Resolution | 1280 x 800 pixels | Sensitivity | -12 dBV (0.71 Vpp) @ 1 kHz | |||
| Colour | 24 bit true colour | Distortion | <3% | |||
| Touch Panel | Capacitive Multi-Touch (5 simultaneous points) | Frequency range | 200 Hz to 7 kHz (-6 dB) | |||
| Camera | 2 megapixels | Max. SPL | 110 dB | |||
| Sensor | Ambient light | Type | Omnidirectional | |||
| Acceleration | ||||||
| <3% | ||||||
| Magnetic | ||||||
| Operating System | Android | |||||
| Flat imaging (2D) | ||||
| ||||
| Location | The two cameras are located in the mouth and on the forehead. | |||
| Imaging array | Model | OV5640 | ||
| Type | SOC Image Sensor | |||
| Resolution | 5 megapixels | |||
| Size | ¼ inch | |||
| Active Pixels | 2592 x 1944 | |||
| Pixel size | 1.4 x 1.4 μm | |||
| Dynamic range | 68 dB @8x gain | |||
| Signal/Noise ratio | 36 dB (maximum) | |||
| Responsivity | 600 mV/Lux-sec | |||
| Shutter type | Rolling shutter / frame exposure | |||
| Output | Camera output (Values may vary depending on NAOqi version) | 2592x1944 @15 fps | ||
| 1920x1080 @30/15 fps | ||||
| 1280x960 @30/15 fps | ||||
| 640x480 @30/15 fps | ||||
| 320x240 @30/15 fps | ||||
| View | Field of view | 54.4° HFOV 44.6° VFOV | ||
| Focus type | Autofocus 10 cm to ∞ | |||
| Depth and Stereo imaging | ||
 | ||
| Location | Stereo image is provided by a pair of 2D cameras, located behind the eyes. | |
| Imaging array | Model | OV4689 |
| Type | CMOS Image Sensor | |
| Size | 1/3 inch | |
Active Pixels (Values may vary depending on NAOqi version) | 1280 x 720 | |
| Shutter type | Rolling shutter / frame exposure | |
| Output | Camera output | 2560 x 720 @15 fps |
| View | Focus type | Fixed focus 40 cm to ∞ |
| Stereovision 3D sensor | Field of view | 90.6° HFOV, 56.3° VFOV |
| Field of view | 57.2° HFOV, 44.3° VFOV | |
| Touch Sensitive area | ||
| Head | Three on the top of the head (A-B-C) |  |
| Hand | Two on the back of each hand (D) | |
| Buttons | ||
 |  | |
| Chest button | Location | Located on the chest under the tablet (A) |
| Stop button | Location | Located behind the neck (B) |
| Wheel bumpers | Location | Two in the front and one at the back of the base (A-B-C) |
| ENVIRONMENT SENSORS | |
| Lasers | |
| Location | There is one laser located on each side of the base (D-E-F) and three in the front of the base (A-B-C). |
| Class | 1M |
| Wavelength | 808 nm |
| Mode of operation | Pulsed |
| Frame rate | 6.25 Hz |
 |  |
| LEDs | Inertial Measurement Unit | |||
| Eye LEDs | Location | There are eight LEDs per eye | 3-axis gyrometer | |
| Colour | Full Colour RGB | |||
| Ear LEDs | Location | There are ten LEDs per ear | ||
| Colour | 16 levels of blue | 3-axis accelerometer | ||
| Shoulder LEDs | Location | There is one LED unit per shoulder | ||
| Colour | Full colour RGB | |||
| IR Sensors | Sonars | |||
| Location | The two IR sensors are located on each side of the base (A-B). | Location | There is one sonar at the front of the base (A) and one at the back (B). | |
| Wavelength | 940 nm | Frequency | 42 kHz | |
| Range | 0 to 50 cm (19.6 in) at a height of 27 cm (10.7 in) above the ground | Sensitivity | -86 dB | |
| Angle | 4° | Resolution | 0.03 m | |
 | Detection range | 0 - 3 m 0 - 9.8 ft Objects closer than 30 cm (12 in) will be detected as being at 30 cm. | ||
Effective cone | 60° | |||
 | ||||
| Detection | |
 | |
 | |
 |  |
 | |
 | 3D SENSOR DETECTION ZONE |
 | SONAR DETECTION ZONES |
 | INFRARED DETECTION ZONES |
 | LASER AND SENSOR DETECTION ZONES (HORIZONTAL) |
 | LASER AND SENSOR DETECTION ZONES (VERTICAL) |
 | BLIND ZONE |
Note: For readability, not all sensor information is shown here.
| CONNECTIVITY | ||
| Technology | ||
| Wi-Fi | Screen | 802.11 a/b/g/n |
| Head module | WNC DHXA222-802.11 | |
| Ethernet | For maintenance use only | |
| Bluetooth ® | Head | Bluetooth 4.0 Bluetooth Low Energy |
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