NAO - Technical Specifications

Created by Support Team, Modified on Wed, 13 Mar 2024 at 05:17 PM by 2nd Level URG-ALD

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TABLE OF CONTENTS



DIMENSIONS
Size (HxDxW)574x311x275 mm / 22.6x12.2x10.8 in
Weight5.48 kg / 12.08 lb

    

               



ENERGY
BRAIN SYSTEM
BatteryTypeLithium-IonCPU


CPU processor
Cache memory 
Clock speed
ATOM E3845
2 MB 
1.91 GHz

Nominal voltage/capacity21.6 V / 2.9 AhRAM4GB DDR3
Max charge voltage25.2 VFlash memory32GB eMMC
Recommended charge current1.8 A
Max charge / discharge current2.1 A / 2.0 A
Energy62.5 Wh
Charging duration90 min
Run time60 min (Active use)
90 min (Normal use)
ChargerInput100 to 240 VAC
50/60 Hz – Max 1.2 A

Output25.2 VDC – 2 A










MOTION
Motors typeBrush DC Coreless









Type 1Type 2Type 3Type 4Type 5
Ref22NT82213P17N88208E16GT83210EDCX 16S

22NT Z20


No load speed (rpm)

8700 ±10%

8400 ±12%10700 ±10%11400 ±10%8700 ±10%
Stall torque (mNm)65 ±8%9.4 ±8%14.3 ±8%22.4 ±10%65 ±10%
Continuous torque (mNm)17.8 max4.9 max6.2 max2.6 max17.8 max




Motors position

Gears RatioType
Head jointsHeadYaw
HeadPitch
150.27
173.22
3
3
Arm joints
ShoulderPitch
ShoulderRoll
ElbowYaw
ElbowRoll
150.27
173.22
150.27
173.22
4
3
3
3
Hand jointsWristYaw
Hand/ Fingers
50.61
36.24
2
2
Leg jointsHipYawPitch
HipRoll
HipPitch
KneePitch
AnklePitch
AnkleRoll
201.3
201.3
130.85
130.85
130.85
201.3
1
1
5
5
5
1



Joint movement encoders
MRE
(Magnetic Rotary Encoder)
36

Using hall effect sensor technology

Precision: 12 bits / 0.1°



HUMAN INTERACTION


Audio


Loud Speakers

Left & Right Diameter

40 mm
Impedance4 Ω
Audio power87 dB +/- 3 dB
Freq rangeup to ~20 kHz

Input

2 W
Microphones
×4 omnidirectional on the head
Sensitivity-12dBV/PA @1KHZ

Frequency range

100HZ to 10KHZ



LEDs

Placement

Quantity

Description

Tactile Head1216 White levels
Eyes

2×8

RGB FullColor
Ears2×1016 Blue levels
Chest button1RGB FullColor

Feet

2×1

RGB FullColor


2D cameras



Cameras2 front of head
Sensor modelOV5640
Sensor typeSoC - CMOS Image Sensor

Imaging array

Resolution

Size

Active Pixels (H×V)

5 MP

1/4 in

2592 x 1944

Sensitivity

Pixel size

Dynamic range

Signal/Noise ratio (max)

Responsivity

1.4 x 1.4 μm

68 dB @8x gain

36 dB

600 mV/lux-sec

Output

Camera output

Data Format

Shutter type

640 x 480 @30 fps

YUY & RGB

Rolling Shutter / frame exposure

ViewField of view

Focus range


Focus type

67.4°  DFOV (56.3° HFOV, 43.7°  VFOV)

10 cm ~ ∞

≈ 4 in - ∞

Auto focus




Cameras framerate
Resolution Top CameraBottom Camera





Note: The rate of the video stream will depend on the network and the video resolution chosen.

All frame rates depend on the CPU usage. Values are measured with a CPU fully dedicated to image gathering.

320×240 px@15, 30 fps@15, 30 fps 
640×480 px@15, 30 fps@15, 30 fps 
1280×960 px@15, 30 fps@10, 15 fps 
1920x1080 px @15, 30 fps-
2560x1920 px@15 fps-




ENVIRONMENT SENSORS


Inertial Unit
Gyrometer



1
Axis
Precision
Angular speed

3
5%
500° /s approx.
IMU



1
Axis
Precision
Nominal acceleration

3
10%
2 g approx.




Sonars
Transmitters2 on front

Receivers2 on front
Frequency40 kHz
Resolution1 cm @50 cm
Detection Range0.20 m to 0.80 m
Effective Cone60° 








Force Sensitive Resistors (FSR)

Range

0 to 25 N

Location4 in each foot

Sensitivity

40 g approx.












CONNECTIVITY


Connection

Ethernet

1×RJ45 - 10/100/1000 BASE T

WIFI
IEEE 802.11a/b/g/n

WPAN IEEE 802.15.1 (Bluetooth)

4.0 (LE)



Software

Open Nao

Embedded GNU/Linux

Distribution based on Gentoo

Architecture

86

Programming

Embedded: C++ / Python

Remote: Java


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