NAO 6 – Technical Specifications
| DIMENSIONS | |
| Size (HxDxW) | 574x311x275 mm / 22.6×12.2×10.8 in |
| Weight | 5.48 kg / 12.08 lb |
 |  |
| ENERGY | BRAIN SYSTEM | |||||
| Battery | Type | Lithium-Ion | CPU | CPU processor Cache memory Clock speed | ATOM E3845 2 MB 1.91 GHz | |
| Nominal voltage/capacity | 21.6 V / 2.9 Ah | RAM | 4GB DDR3 | |||
| Max charge voltage | 25.2 V | Flash memory | 32GB eMMC | |||
| Recommended charge current | 1.8 A | |||||
| Max charge / discharge current | 2.1 A / 2.0 A | |||||
| Energy | 62.5 Wh | |||||
| Charging duration | 90 min | |||||
| Run time | 60 min (Active use) 90 min (Normal use) | |||||
| Charger | Input | 100 to 240 VAC 50/60 Hz – Max 1.2 A | ||||
| Output | 25.2 VDC – 2 A | |||||
| MOTION | ||||||
| Motors type | Brush DC Coreless | |||||
| Type 1 | Type 2 | Type 3 | Type 4 | Type 5 | ||
| Ref | 22NT82213P | 17N88208E | 16GT83210E | DCX 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 max | 4.9 max | 6.2 max | 2.6 max | 17.8 max | |
| Motors position | ||||
| Gears Ratio | Type |  | ||
| Head joints | HeadYaw 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 joints | WristYaw Hand/ Fingers | 50.61 36.24 | 2 2 | |
| Leg joints | HipYawPitch 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) | 36Using hall effect sensor technologyPrecision: 12 bits / 0.1° |
| HUMAN INTERACTION |
| Audio |  | ||
| Loud Speakers | Left & Right Diameter | 40 mm | |
| Impedance | 4 Ω | ||
| Audio power | 87 dB +/- 3 dB | ||
| Freq range | up to ~20 kHz | ||
| Input | 2 W | ||
| Microphones ×4 omnidirectional on the head | Sensitivity | -12dBV/PA @1KHZ | |
| Frequency range | 100HZ to 10KHZ | ||
| LEDs | ||
| Placement | Quantity | Commentaire |
| Tactile Head | 12 | 16 White levels |
| Eyes | 2×8 | RGB FullColor |
| Ears | 2×10 | 16 Blue levels |
| Chest button | 1 | RGB FullColor |
| Feet | 2×1 | RGB FullColor |
| 2D cameras | |
 |  |
| Cameras | 2 front of head | |
| Sensor model | OV5640 | |
| Sensor type | SoC – CMOS Image Sensor | |
| Imaging array | ResolutionSizeActive Pixels (H×V) | 5 MP1/4 in2592 x 1944 |
| Sensitivity | Pixel sizeDynamic rangeSignal/Noise ratio (max)Responsivity | 1.4 x 1.4 μm68 dB @8x gain36 dB600 mV/lux-sec |
| Output | Camera outputData FormatShutter type | 640 x 480 @30 fpsYUY & RGBRolling Shutter / frame exposure |
| View | Field of viewFocus range Focus type | 67.4° DFOV (56.3° HFOV, 43.7° VFOV)10 cm ~ ∞≈ 4 in – ∞Auto focus |
| Cameras framerate | |||
| Resolution | Top Camera | Bottom 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 | |
| 1920×1080 px | @15, 30 fps | – | |
| 2560×1920 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 | ||
| Transmitters | 2 on front |  |
| Receivers | 2 on front | |
| Frequency | 40 kHz | |
| Resolution | 1 cm @50 cm | |
| Detection Range | 0.20 m to 0.80 m | |
| Effective Cone | 60° | |
| Force Sensitive Resistors (FSR) |  | |
| Range | 0 to 25 N | |
| Location | 4 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/LinuxDistribution based on Gentoo |
| Architecture | 86 |
| Programming | Embedded: C++ / PythonRemote: Java |
