# SoftBank Robotics documentation What's new in NAOqi 2.8?

# Romeo - Motors

See also

Romeo - Developer guide

Motor | RE40 | RE21 | RE25 | RE17
--- | --- | --- | --- | ---
Model | RE40_148877 | REmax21_250028 | RE25_339154 | RE-max17_216007
No load Speed (tr.min-1) | 7580 | 9620 | 10300 | 10100
Stall Torque (N.m) | 2.5 | 0.0280 | 0.271 | 0.0117
Torque Constant | 0.0603 | 0.0468 | 0.0329 | 0.0445

Motor | RE24 | RE24B | DCX10 | DCX35
--- | --- | --- | --- | ---
Model | RE-max24_222057 | RE-max24_220419 | DCX10L | DCX35
No load Speed (tr.min-1) | 7880 | 7450 | 2800 | 6670
Stall Torque (N.m) | 0.0460 | 0.0499 | 0.01752 | 0.138
Torque Constant | 0.0613 | 0.0613 | 0.040 | 0.0683

Max Velocity and Max Torque are given on the joint axis.

## Head

Joint name | Motor | Reduction | Max Velocity (rad.s-1)
--- | --- | --- | ---
NeckYaw | RE25 | 145.2 | 4.0
NeckPitch | RE25 | 118.1 | 2.2
HeadPitch | RE24 | 130.8 | 1.9
HeadRoll | RE24 | 201.3 | 1.5

## Arms

Joint name | Motor | Reduction | Max Velocity (rad.s-1)
--- | --- | --- | ---
ShoulderPitch | RE25 | 249.7 | 2.2
ShoulderYaw | RE25 | 118.1 | 4.0
ElbowRoll | RE25 | 145.2 | 3.7
ElbowYaw | RE25 | 118.1 | 4.0
WristRoll | RE24 | 201.3 | 1.1
WristYaw | RE17 | 249.9 | 2.6
WristPitch | RE17 | 173.2 | 3.75
Hand | RE24B | 13.03 [1] | 47.59

[1] | Ratio between the axis of the motor and the axis of the first phalanx of the index finger.

## Trunk

Joint name | Motor | Reduction | Max Velocity (rad.s-1)
--- | --- | --- | ---
TrunkYaw | DCX35 | 292.47 | 1.5

## Legs

Joint name | Motor | Reduction | Max Velocity (rad.s-1)
--- | --- | --- | ---
HipYaw | RE21 | 2696.58 | 0.32
HipRoll | RE40 | 160.448 | 2.09
HipPitch | RE40 | 243.736 | 2.09
KneePitch | RE40 | 66 - 150 | 6.0
AnklePitch | RE40 | 247.338 | 2.10
AnkleRoll | RE40 | 168.65 | 2.10
ToePitch | are controlled by a servo motor HS-125MG. It only allows locking or unlocking operations.

## Eyes

Joint name | Motor | Reduction | Max Velocity (rad.s-1)
--- | --- | --- | ---
EyeYaw | DCX10 | 1.0 | 293.21
EyePitch | DCX10 | 1.0 | 293.21

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