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

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

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)	2592×1944 @15 fps
		1920×1080 @30/15 fps
		1280×960 @30/15 fps
		640×480 @30/15 fps
		320×240 @30/15 fps
View	Field of view	54.4° HFOV44.6° VFOV
	Focus type	Autofocus10 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 focus40 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

IR Sensors			Sonars
Location	The two IR sensors are located on eachside 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 of27 cm (10.7 in) above the ground		Sensitivity	-86 dB
Angle	4°		Resolution	0.03 m
			Detectionrange	0 – 3 m0 – 9.8 ftObjects closer than 30 cm (12 in) will bedetected as being at 30 cm.
			Effectivecone	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.