NAO Software 1.12 documentation

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ALFsr

Overview | API | Tutorials

See also

• NAOqi Sensors
• Hardware Force Sensitive Resistors (FSRs)

What it does

This module generates the event footContactChanged whenever the foot contact changes.

• If NAO has at least one foot on the ground, the event is raised with the value True
• If NAO has no feeet on the ground, the event is raised with the value False

The module also generates other values in ALMemory:

• footContact (1.0f if one foot touched the ground)
• leftFootContact (1.0f if the left foot touched the ground)
• rightFootContact (1.0f if the right foot touched the ground)
• leftFootTotalWeight (the total weight on the left foot in Kg)
• rightFootTotalWeight (the total weight on the right foot in Kg)

How it works

NAO has four Force Sensitive Resistors (FSRs) under each foot.

The aim of these sensors is to determine whether NAO’s feet are touching the ground or not. This information is used during the walk, where at least one foot must maintain contact with the ground while walking, otherwise the walk is stopped.

For more detials, see Kill the walk task when lifted section.

Methods

There are no public methods. The module automatically generates the events and values.

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