The NAOqi Motion API comes with a list of core modules that allow developers to facilitate making NAO move. It contains four major groups of methods for controlling the joint stiffness, joint position, walk, robot effector in the Cartesian space. Aldebaran is a company that designs, produces, and commercializes autonomous humanoid robots. Aldebaran Robotics creates, manufactures and sells humanoid and programmable robots. Their NAOqi operating system enables the robots to have natural interaction and emotion.