10 Nao Robot Platform

Rcssserver3d comes with the Nao robot model for use by the agents in the soccer simulation. The Nao humanoid robot manufactured by Aldebaran Robotics. Its height is about 57cm and its weight is around 4.5kg. Its biped architecture with 22 degrees of freedom allows Nao to have great mobility. rcssserver3d simulates Nao nicely, as you can see. The simulated model comes with 22 degrees of freedom, which allow Nao to have great mobility. In other words they can fall over in many ways. The following information and more can be found at http://simspark.sourceforge.net/wiki/index.php/Main_Page

How do we control the robot?

  • Perceptors : Sensors of the robot
  • Effectors : Allow agents to perform actions

The Nao robot model is equipped with a powerful selection of perceptors and effectors to provide a widespread information base for agent development.

  • The Nao robot possess a gyroscope and a accelerometer, to keep track of radial as well as axial movement of itself in the three dimensional space. Both are located at the center of the torso, therefore the only available identifier to these perceptors is “torso”.
  • In order to detect contact with the ground or other objects in the simulation, one force resistance perceptor in each foot indicates the actual pressure on it. Possible identifiers are “lf” and “rf”, for the left and the right foot.
  • To get visual information about different objects in its environment the Nao robot possess a restricted vision perceptor at the center of its head. Note: The visual perception is described in a right hand system facing the x-axis.
  • For communication purposes it is equipped with a say effector and the corresponding hear perceptor.
  • The position of each joint is represented by a hinge joint perceptor and manipulable through the corresponding hinge joint effector. A complete list of all available joints of the Nao robot and their corresponding identifiers is listed in the table below. The arrangement of the joints and their relative orientation is shown in figure Nao's anatomy.
  • The gamestate perceptor is used to inform about the actual play time and play mode.
No. Description Hinge Joint Perceptor name Effector name
1 Neck Yaw [0][0] hj1 he1
2 Neck Pitch [0][1] hj2 he2
3 Left Shoulder Pitch [1][0] laj1 lae1
4 Left Shoulder Yaw [1][1] laj2 lae2
5 Left Arm Roll [1][2] laj3 lae3
6 Left Arm Yaw [1][3] laj4 lae4
7 Left Hip YawPitch [2][0] llj1 lle1
8 Left Hip Roll [2][1] llj2 lle2
9 Left Hip Pitch [2][2] llj3 lle3
10 Left Knee Pitch [2][3] llj4 lle4
11 Left Foot Pitch [2][4] llj5 lle5
12 Left Foot Roll [2][5] llj6 lle6
13 Right Hip YawPitch [3][0] rlj1 rle1
14 Right Hip Roll [3][1] rlj2 rle2
15 Right Hip Pitch [3][2] rlj3 rle3
16 Right Knee Pitch [3][3] rlj4 rle4
17 Right Foot Pitch [3][4] rlj5 rle5
18 Right Foot Roll [3][5] rlj6 rle6
19 Right Shoulder Pitch [4][0] raj1 rae1
20 Right Shoulder Yaw [4][1] raj2 rae2
21 Right Arm Roll [4][2] raj3 rae3
22 Right Arm Yaw [4][3] raj4 rae4

Available hinge joints of the Nao robot.