NAO software 1.12 documentation (worth reading)

[siempre.aprendiendo]

Here you can find the NAO software 1.12 documentation (no registration required). I think is a very interesting reading for anyone interested in robotics, even if you are not going to get a NAO.

A general diagram:



NAOqi is the main software that runs on the robot and controls it.

A very interesting section for bipeds:

NAOqi Motion:

What it does
The ALMotion module provides methods which facilitate making NAO move.
It contains four major groups of methods for controlling the:

joint stiffness (basically motor On-Off): see Stiffness control,
joint position (interpolation, reactive control): see Joint control,
walk (distance and velocity control, world position and so on): see Walk control,
robot effector in the cartesian space (inverse kinematics, whole body constraints): see Cartesian control.