877.455.9369 | teq.com

PMS 306C

PMS 3005C

50% Black

877.455.9369 | teq.com

877.455.9369 | teq.com 1

PROFESSIONAL DEVELOPMENT

Col

lege

and Career Readiness

Man

ufa

ctur

ing

Artificial Intelligence

Robotics

Engineering

Design ThinkingEnvironmental Science

Rese

arch

& D

evel

opm

ent

Common Core Standards for

ELA & Literacy

Next Generation

ScienceStandards

Common Core Standards for

Mathematics

Coding

The Future Begins with NAO

Create a partnership with Teq’s PD team. Customize NAO instruction for your school’s various subjects and curricula.

Teq’s professional development provides the framework for a STEM-centered curriculum, focusing NAO instruction towards the Common Core Learning Standards, to better prepare your students for post-secondary education and thriving careers in STEM-based industries.

877.455.9369 | teq.com

877.455.9369 | teq.com 3

TORSO RObOT PLATFORM

TORSO

AUDIOVISUAL & GESTURE INTERACTION>> Intel Atom Processor

>> Enhanced Audio Visual Capabilities

KEY bENEFITS >> Fully programmable, open and autonomous: fully integrate this state-of-the-art hardware and software

>> Easy to use and understand: achieve better project results and improve learning effectiveness

USE CASES >> STEM (Science, Technology, Engineering and Mathematics) training and exercises

>> Scientific research in autism and personal assistance

PARTS INCLUDEDHumanoid Robot

Charger

Choregraphe Software single-seat license with Webots

ENHANCED AUDIO AND VISUAL 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 his head 239° horizontally and 68° vertically, and his camera can see 61° horizontally and 47° vertically. Result: NAO has a great capacity to sense his environment.

ObjECT NAO has the capacity to recognize a large quantity of objects. Once the object isRECOGNITION saved to the Choregraphe software, NAO is able to recognize the object and say

what it is.

FACE DETECTION One of the best known features for interaction, NAO can detect and learn a faceAND RECOGNITION in order to recognize it next time.

TExT TO SPEECH NAO is able to speak up to nine languages. With a “say box” in Choregraphe you can insert text and modify voice parameters. NAO will say the text correctly, with the correct punctuation and intonation.

AUTOMATIC SPEECH Speech recognition is at the heart of intuitive human-robot interaction. RECOGNITION We have chosen the best technological partner, Nuance, to develop stable and

powerful speech recognition. NAO is able to hear you from two meters away, and recognize a complete sentence, or just a few words in the sentence. Result: more fluidity and natural conversations.

SOUND DETECTION Our environment is made of sounds that NAO is able to detect and localizeAND LOCALIzATION thanks to microphones all around his head.

4 877.455.9369 | teq.com

TECHNICAL SPECIFICATIONS

LANGUAGES

VISION

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)

CAMERAS x2 on front

Sensor model MT9M114Sensor type SOC Image Sensor

IMAGING ARRAY Resolution 1.22MP Optical format 1/6” Active Pixels (HxV) 1288x968

SENSITIVITY Pixel Size 1.9µm Dynamic Range 70db Signal/Noise ratio (max) 37db Responsitivity 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

CONNECTION

ETHERNET 1 x Rj45 - 10/100/1000 bASE T

WIFI IEEE 802.11b/g/n

CONSTRUCTION

DIMENSION (HxDxW) 307x275x311mm / 12x10.8x12.2”WEIGHT 2.2kg / 4.8 lbCONSTRUCTION MATERIAL AbS-PC / PA-66 / xCF-30

TExT TO SPEECH English, French, Spanish, German,

Italian, Chinese, japanese, Korean,

Portuguese

AUTOMATIC SPEECH English, French, Spanish, German,

Italian, Chinese, japanese, KoreanRECOGNITION

MOTHERbOARD

CPU PROCESSOR ATOM z530 Cache memory 512Kb Clock speed 1.6GHz FSb speed 533mHzRAM 1GbFLASH MEMORY 2GbMICRO SDHC 8Gb

AUDIO

LOUD SPEAKERS x2 lateral Diameter 36mm Impedance 8ohms Sp level 87db/w +/- 3db Freq range up to ~20kHz Input 2W

MICROPHONE x4 on the head Sensitivity ~40 +/-3db Frequency range 20Hz-20kHz Signal/noise ratio 58dbA

Resolution EmbeddedGigabit Ethernet

100Mb Ethernet Wifi g

160x120px 30fps 30fps 30fps 30fps

320x240px 30fps 30fps 30fps 11fps

640x480px 30fps 30fps 12fps 2.5fps

1280x960px 29fps 10fps 3fps 0.5fps

FRAME RATE

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.

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TECHNICAL SPECIFICATIONS

NUMBERWAVELENGTHEMISSION ANGLEPOWER

×2 on front940nm+/-60°8mW/sr

IR

EMITTERSRECEIVERSFREQUENCYSENSITIVITYRESOLUTIONDETECTION RANGEEFFECTIVE CONE

×2 on front×2 on front40kHz-86dB1cm0.25m to 2.55m60°

SONAR

GYROMETER

ACCELEROMETER

×2AxisPrecisionAngular speed

1 per gyrometer5%

~500°/s

×1AxisPrecisionAcceleration

31%~2g

INERTIAL UNIT

CONTACT SENSOR

Chest ButtonTactile HeadTactile Hand

OPEN NAO

ARCHITECTURE

PROGRAMMING

Embedded GNU/LinuxDistribution based on Gentoo

×86

Embedded: C++ / PythonRemote: C++ / Python / .NET / Java / MatLab

SOFTWARE

LEDS

PLACEMENT QUANTITY DESCRIPTIONTactile HeadEyesEarsChest button

×122×82×10×1

16 Blue levelsRGB FullColor16 Blue levelsRGB FullColor

HEADARM (IN EACH)HAND (IN EACH)

×2 dof×5 dof×1 dof

×14

DEGREES OF FREEDOM

NAO TORSO

NAO TORSO

MRE (Magnetic Rotary Encoder) Using hall effect sensor technology

Precision:

POSITION SENSORS

12bits / 0.1°

TORSOTECHNICAL SPECIFICATIONS

TORSO

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MOTOR SPECIFICATIONS

HEAD JOINTS

MOTOR TYPE

MOTOR REDUCTION RATIO

ARM JOINTS

HeadYawHeadPitch

Brush DC Coreless

ShoulderPitchShoulderRollElbowYawElbowRollWristYawHand

Type 2Type 2

Type 2Type 2Type 2Type 2Type 2Type 2

Type AType B

Type AType BType AType BType CType D

POSITION OF MOTORS

DESCRIPTION OF THE MOTORS

SPEED REDUCTION RATIO TYPE C

SPEED REDUCTION RATIO TYPE A

SPEED REDUCTION RATIO TYPE D

SPEED REDUCTION RATIO TYPE B

MOTOR TYPE 2 MOTOR TYPE 2

MOTOR TYPE 2

MOTOR TYPE 2 MOTOR TYPE 2

ModelNo load speedStall torqueContinuous torque

Reduction ratio

Reduction ratio

Reduction ratio

Reduction ratio50.61 36.24

17N88208E8400rpm ±12%9.4mNm ±8%4.9mNm max

150.27 173.22

©2012 Aldebaran Robotics. November 2012. Data are subject to change without notice.

CERTIFICATIONS& APPROVALS

REGION

ELECTROMAGNETIC COMPATIBILITY

SAFETY

CLASSIFICATIONEuropeUSA

IEC 60950-1:2005 (2nd edition)

CE (Declaration of Conformity)FCC

EN 301 489-1 / EN 301 489-17 / EN 300 328 EN 62311 : 2008 / FCC PART15, Class A

TORSO

HeadYaw [2][A]

ShoulderPitch [2][A]

ElbowRoll [2][B]

WristYaw [2][C]Hand [2][D]

Legend: Joint Name[Motor Type][Reductor Type]

HeadPitch [2][B]

ShoulderRoll [2][B]

ElbowYaw [2][A]

MOTOR SPECIFICATIONS

TORSO

877.455.9369 | teq.com 7

HUMANOID RObOT PLATFORM

HUMANOID

ALL-PURPOSE HUMANOID RObOT>> Intel Atom Processor

>> Enhanced Audio Visual Capabilities

>> Natural Motion Reflexes

KEY bENEFITS >> Fully programmable, open and autonomous: fully integrate this state-of-the-art hardware and software

>> Easy-to-use and understand: achieve better project results and improve learning effectiveness

>> Attractive and motivating: increase engagement and catch audience attention

USE CASES >> STEM (Science, Technology, Engineering and Mathematics) training and exercises

>> Scientific research in autism and personal assistance

>> Communication tool for events such as open house days

ExAMPLES OF APPLICATION

EDUCATION >> Programming >> Math and Physics Concepts for Robotic

Applications >> Motion Planning >> Introduction to Object/Speech Recognition

and Detection >> Create Games and Stories >> Mechatronics >> Automation

RESEARCH >> Human Robot Interaction >> Perception and Cognition >> Object Category Recognition and Detection >> Modeling Expressive Gestures >> Localization and Navigation >> Movement Synchronization of Robot >> Structure and Motion Analysis >> Psychology and Social Robotics >> Artificial Intelligence

PARTS INCLUDEDHumanoid Robot

Charger

Choregraphe Software single-seat license with Webots

8 877.455.9369 | teq.com

ENHANCED AUDIO AND VISUAL 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 his head 239° horizontally and 68° vertically, and his camera can see 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 to the Choregraphe software, NAO is able to recognize and say what it is.

FACE DETECTION AND One of the best known features RECOGNITION 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 nine languages. With a “say box” in Choregraphe you can insert text and modify voice parameters. NAO will say the text correctly, with the correct punctuation and intonation.

AUTOMATIC SPEECH Speech recognition is at the heart ofRECOGNITION intuitive human-robot interaction. We

have chosen the best technological partner, Nuance, to develop stable and powerful speech recognition. NAO is able to hear you from two meters away, and recognize a complete sentence, or just a few words in the sentence. Result: more fluidity and natural conversations.

SOUND DETECTION Our environment is made of sounds that AND LOCALIzATION NAO is able to detect and localize thanks

to microphones all around his head.

HUMANOID RObOT PLATFORM

HUMANOID

877.455.9369 | teq.com 9

TECHNICAL SPECIFICATIONS

LANGUAGES

VISION

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)

CAMERAS x2 on front

Sensor model MT9M114Sensor type SOC Image Sensor

IMAGING ARRAY Resolution 1.22MP Optical format 1/6” Active Pixels (HxV) 1288x968

SENSITIVITY Pixel Size 1.9µm Dynamic Range 70db Signal/Noise ratio (max) 37db Responsitivity 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

CONNECTION

ETHERNET 1 x Rj45 - 10/100/1000 bASE T

WIFI IEEE 802.11b/g/n

CONSTRUCTION

DIMENSION (HxDxW) 573x275x311mm / 22.5x10.8x12.2”WEIGHT 5.2kg / 11.4 lbCONSTRUCTION MATERIAL AbS-PC / PA-66 / xCF-30

TExT TO SPEECH English, French, Spanish, German,

Italian, Chinese, japanese, Korean,

Portuguese

AUTOMATIC SPEECH English, French, Spanish, German,

Italian, Chinese, japanese, KoreanRECOGNITION

MOTHERbOARD

CPU PROCESSOR ATOM z530 Cache memory 512Kb Clock speed 1.6GHz FSb speed 533mHzRAM 1GbFLASH MEMORY 2GbMICRO SDHC 8Gb

AUDIO

LOUD SPEAKERS x2 lateral Diameter 36mm Impedance 8ohms Sp level 87db/w +/- 3db Freq range up to ~20kHz Input 2W

MICROPHONE x4 on the head Sensitivity ~40 +/-3db Frequency range 20Hz-20kHz Signal/noise ratio 58dbA

Resolution EmbeddedGigabit Ethernet

100Mb Ethernet Wifi g

160x120px 30fps 30fps 30fps 30fps

320x240px 30fps 30fps 30fps 11fps

640x480px 30fps 30fps 12fps 2.5fps

1280x960px 29fps 10fps 3fps 0.5fps

FRAME RATE

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.

10 877.455.9369 | teq.com

TECHNICAL SPECIFICATIONS

HUMANOID

IR

NUMbER x2 on frontWAVELENGTH 940nmEMISSION ANGLE +/-60˚POWER 8mW/sr

SOFTWARE

OPEN NAO Embedded GNU/Linux Distribution based on Gentoo

ARCHITECTURE x86

PROGRAMMING Embedded: C++/Python Remote: C++/Python/.NET/java/MatLab

CONTACT SENSOR

Chest button üFoot bumper üTactile Head üTactile Hand ü

INERTIAL UNIT

GYROMETER x2 Axis 1 per gyrometer Precision 5% Angular speed ~500˚/s

ACCELEROMETER x1 Axis 3 Precision 1% Acceleration ~2g

POSITION SENSORS

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

LEDS

PLACEMENT QUANTITY DESCRIPTIONTactile Head x112 16 blue levelsEyes 2x8 RGb Full ColorEars 2x10 16 blue levelsChest button x1 RGb Full ColorFeet 2x1 RGb Full Color

DEGREES OF FREEDOM

HEAD x2 dofARM (IN EACH) x5 dofPELVIS x1 dofLEG (IN EACH) x5 dofHAND (IN EACH) x1 dof

SONAR

EMITTERS x2 on frontRECEIVERS x2 on frontFREQUENCY 40kHzSENSITIVITY -86dbRESOLUTION 1cmDETECTION RANGE 0.25m to 2.55mEFFECTIVECONE 60˚

FSR (FORCE SENSITIVE RESISTORS

RANGE 0 to 110N

x4 per feet

NAO HUMANOID NAO HUMANOID

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MOTOR SPECIFICATIONS

HEAD JOINTS

MOTOR TYPE

MOTOR REDUCTION RATIO

ARM JOINTS

LEG JOINTS

HeadYawHeadPitch

Brush DC Coreless

ShoulderPitchShoulderRollElbowYawElbowRollWristYawHand

HipYawPitchHipRollHipPitchKneePitchAnklePitchAnkleRoll

Type 3Type 3

Type 3Type 3Type 3Type 3Type 2Type 2

Type 1Type 1Type 1Type 1Type 1Type 1

Type AType B

Type AType BType AType BType CType D

Type AType AType BType BType BType A

POSITION OF MOTORS

HUMANOID

DESCRIPTION OF THE MOTORS

SPEED REDUCTION RATIO TYPE C

SPEED REDUCTION RATIO TYPE A

SPEED REDUCTION RATIO TYPE D

SPEED REDUCTION RATIO TYPE B

MOTOR TYPE 1

MOTOR TYPE 1

MOTOR TYPE 2

MOTOR TYPE 1

MOTOR TYPE 2

MOTOR TYPE 2 MOTOR TYPE 3

MOTOR TYPE 3 MOTOR TYPE 3

ModelNo load speedStall torqueContinuous torque

Reduction ratio

Reduction ratio

Reduction ratio

Reduction ratio

16GT83210E10700rpm ±10%14.3mNm ±8%6.2mNm max

201.3

50.61

130.85

36.24

17N88208E8400rpm ±12%9.4mNm ±8%4.9mNm max

22NT82213P8300rpm ±10%68mNm ±8%16.1mNm max

150.27 173.22

HeadYaw [3][A]

ShoulderPitch [3][A]

ElbowRoll [3][B]

HipYawPitch [1][A]

WristYaw [2][C]Hand [2][D]

HipRoll [1][A]HipPitch [1][B]

KneePitch [1][B]

AnklePitch[1][B]

Legend: Joint Name[Motor Type][Reductor Type]

AnkleRoll[1][A]

HeadPitch [3][B]

ShoulderRoll [3][B]

ElbowYaw [3][A]

©2012 Aldebaran Robotics.November 2012. Data are subject to change without notice.

CERTIFICATIONS& APPROVALS

REGION

ELECTROMAGNETIC COMPATIBILITY

SAFETY

CLASSIFICATIONEuropeUSA

IEC 60950-1:2005 (2nd edition)

CE (Declaration of Conformity)FCC

EN 301 489-1 / EN 301 489-17 / EN 300 328 EN 62311 : 2008 / FCC PART15, Class A

MOTOR SPECIFICATIONS

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1 / 1

TEACH MECHANICS WITH A PART OF NAO’S BODY

Understand NAO’s ankle and its conception through CAD files

Explore how NAO ankle is built by dismantling it

»

»

»

»

KEY BENEFITS

USE CASES

Inspire a high level of motivation by putting theory into practice

Discover robotics related fields such as mechanics by accessing internal components and disassembling the ankle

MECHANICS EDITION

THE NAO ANKLE KIT MECHANICS EDITION INCLUDES:NAO'S ANKLE: PERFORM MECHANICS STUDIES WITH A PART OF NAO THAT CAN BE DISASSEMBLEDRESOURCES: UNDERSTAND THE CONCEPTION OF THE ANKLE WITH DOCUMENTS SUCH AS CAD FILES

STUDENTS CAN LEARN MECHANICS AND EXPLORE HUMANOID PART CONCEPTION WITH NAO ANKLE KIT.

»»

QUANTITY DESCRIPTION×1×1×1

NAO's ankle - Mechanics Edition*ManualDVD with resources (CAD files…)

* No electronic boards and no motors.

PARTS INCLUDED CONSTRUCTION

DIMENSION (H×D×W)WEIGHT

160x160x90mm / 6.3x6.3x3.5inches420g/0.93lb

>

Shells can be dismantled with a screwdriver* to discover how NAO’s ankle is designed.

* Not provided.

TECHNICAL SPECIFICATIONS

ANKLE KIT

www.aldebaran-robotics.comemea@aldebaran-robotics.com +33 1 77 37 17 52americas@aldebaran-robotics.com +1 617 963 0394 asia-pacific@aldebaran-robotics.com +86 21 6135 8998©2012 Aldebaran Robotics. October 2012. Data are subject to change without notice.

MECHANICS EDITION

ANKLE

LEARN MECHANICS AND ExPLORE HUMANOID PART CONCEPTION WITH THE NAO ANKLE KIT>> Perform mechanics studies with a part of NAO that

can be disassembled

>> Understand mechanic development with

documents such as CAD files

PARTS INCLUDEDAnkle

ResourcesKEY bENEFITS >> Inspire a high level of motivation by

putting theory into practice >> Discover robotics-related fields such

as mechanics by accessing internal components and disassembling the ankle

USE CASES >> Understand NAO’s ankle and its conception through CAD files

>> Explore how NAO’s ankle is built by dismantling it

CONSTRUCTION

14 877.455.9369 | teq.com

MECHATRONICS EDITION

ANKLE

LEARN MECHATRONICS AND CONDUCT ExPERIMENTS USING A PART OF NAO’S bODY>> Perform studies on the command of a two-

axis system which has the same electronic and

mechanical components as NAO

>> Launch commands and visualize ankle joints and

sensor data

>> Understand robot development thanks to provided

CAD or schematic files

KEY bENEFITS FOR STUDENTS >> Discover robotics-related fields such

as mechatronics by experiencing and connecting theory with practice

>> Inspire a high level of motivation and interest for engineering or technical careers by working on a limb extracted from a humanoid robot

FOR TEACHERS >> Get students to think like engineers or

technicians by analyzing differences between virtual and real fields

>> Use a project-or lab-based approach for teaching mechatronics

USE CASES >> Control: define two DOF system control laws, apply PWN on each motor, or recover measures on actuators positions

>> Mechanics: examine NAO’s ankle conception through provided ankle CAD Solidworks files

>> Electronics: study energy and information chains through provided schematics or datasheets

PARTS INCLUDEDAnkle

Software

Resources

877.455.9369 | teq.com 15

TECHNICAL SPECIFICATIONS

ANKLE

SOFTWARE REQUIREMENTS

CONSTRUCTION

ELECTRICAL

PARTS INCLUDED SOFTWARES

SENSORS & MOTORS

QUANTITY DESCRIPTION

x1 NAO’s ankle-Mechatronics Edition

x1 Power adaptor with UK, EU, US, & AUS Input plugs

x1 Squid connector cable

x1 Quick Start Guide

x1 DVD with manual, softwares, and resources (CAD files, component datasheets, electrical schemes...)

ANKLE CONTROLLER

Signal Generator: step, ramp, sine, parabola, or custom with CSV data file

Loop control: open or close loop with PID parameters

Visualization: Direct graph visualization

Export data: CSV file

Diagnostics: Software version, firmware version, MREs calibration

ANKLE CONTROLLER API

Signal Generator: CSV data (time offset, period, amplitude, duration)

Loop control: open or close loop with PID parameters

Export Data: CSV file (current, angular speed, PWM signal, error between real and theory signal, gear ratio, MRE positions, time of recording, PID parameters)

Programming: C++

MATLAb

Simulation: Formulate, edit, and solve the equations of motion for the NAO Ankle Kit mechanical system.

Control: Directly command the NAO Ankle Kit with Simulink

MRE (MAGNETIC ROTARY ENCODER)

x4Using hall effect sensor technology

Precision: 12bits / 0.1°

MOTOR TYPE brush DC Coreless

Model 22NT82213P

Number x2

No load speed 8300 rpm ± 10%

Stall torque 68 mNm ± 8%

Continuous torque 16.1 mNm max

SPEED REDUCTION RATIO

Anklepitch 130.85

Ankleroll 201.3

ELECTRICAL INPUT 24Vdc–Max 1.8A

POWER ADAPTOR 24Vdc/1.8A AC input with UK, EU, US & AUS input plugs

SQUID CAbLE Connector cable with female USb, jack connector and male USb

DIMENSION (HxDxW) 160x160x90mm / 6.3x6.3x3.5inches

WEIGHT 560g/1.24lb

OS Windows 7 / xP, Mac OS x 10.6/10.7 or GNU/Linux Ubuntu 10.01/10.10

SYSTEM 1.5GHzCPU / 512 Mb RAM / 100 Mb free disk space

www.aldebaran-robotics.comemea @aldebaran-robotics.com +33 1 77 37 17 52americas @aldebaran-robotics.com +1 617 963 0394 asia-paci�c @aldebaran-robotics.com +86 21 6135 8998

©2012 Aldebaran Robotics. October 2012. Data are subject to change without notice.

2/ 2

TECHNICAL SPECIFICATIONS

Signal generator:

Loop control:Visualization: Export data:Diagnostics:

Signal generator:Loop control:Export data:

Programming:

Simulation :

Control:

step, ramp, sine, parabola, or custom with CSV data �leopen or close loop with PID parameters Direct graph visualizationCSV �le Software version, firmware version, MREs calibration

CSV data (time o�set, period, amplitude, duration)

open or close loop with PID parametersCSV �le (current, angular speed, PWM signal, error between real and theory signal, gear ratio, MRE positions, time of recording, PID parameters)C++

Formulate, edit, and solve the equations of motion

for the NAO Ankle Kit mechanical system.

Directly command the NAO Ankle Kit with Simulink

SOFTWARES

SENSORS & MOTORS

ELECTRICAL

CONSTRUCTION

SOFTWARE REQUIREMENTS

×4MRE (MAGNETIC ROTARY ENCODER)

ELECTRICAL INPUTPOWER ADAPTOR

SQUID CABLE

DIMENSION (H × D × W)WEIGHT

OS

SYSTEM

MOTOR TYPE

SPEED REDUCTION RATIO

Using hall e�ect sensor technologyPrecision:

24Vdc– Max 1.8A24Vdc/1.8A AC input with UK, EU, US & AUS input plugsConnector cable with female USB, jack connector and male USB

160x160x90mm / 6.3x6.3x3.5inches 560g/1.24lb

Windows 7 / XP, Mac OS X 10.6/10.7 or GNU/Linux Ubuntu 10.01/10.10

1.5GHz CPU / 512 MB RAM / 100 MB free disk space

Brush DC Coreless

12bits / 0.1°

ModelNumberNo load speedStall torqueContinuous torque

AnklepitchAnkleroll

22NT82213P×28300 rpm ±10%68 mNm ±8%16.1mNm max

130.85201.3

AnklePitch[1][B]

AnkleRoll[1][A]

QUANTITY DESCRIPTION×1×1×1×1×1

NAO's ankle - Mechatronics EditionPower adaptor with UK, EU, US, & AUS input plugsSquid connector cableQuick Start GuideDVD with manual, softwares, and resources (CAD �les, component datasheets, electrical schemes…)

PARTS INCLUDED

MECHATRONICS EDITION

ANKLE KIT

ANKLE CONTROLLER

ANKLE CONTROLLER API

MATLAB

18 877.455.9369 | teq.com

M-0339-0413

877.455.9369 | teq.com

© 2013, Tequipment Inc.