H21 - Masses¶

Legend¶

This page details, for each solid (S) of a robot, the Mass, Center of Mass and Inertial matrix.

$\text{Mass (kg)}$

$\text{CoM(S)} = \left[\begin{array}{c} X_G \\ Y_G \\ Z_G \end{array} \right]_{(o, R)} \text{(m)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} I_{xx} & I_{xy} & I_{xz} \\ I_{yx} & I_{yy} & I_{yz} \\ I_{zx} & I_{zy} & I_{zz} \end{array}\right]_R (\text{kg}*\text{m}^2)$

The Center of Mass position and the Inertial matrix are described relative to the local coordinate system of the current solid (S) (o, R).

All solids (S) and local coordinate system are described relative to the zero posture: standing with straight legs and arms pointing forwards.

Whole robot¶

$\text{Mass} = 5.029339$

Torso¶

(o, R) is located on: Torso.

../../_images/hardware_thoraxmass_3.3.png

$\text{Mass} = 1.04956$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.00413 \\ 0.00009 \\ 0.04342 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00506234058 & +0.00001431158 & +0.00015519082 \\ +0.00001431158 & +0.00488013591 & -0.00002707934 \\ +0.00015519082 & -0.00002707934 & +0.00161030006 \\ \end{array} \right]_R$

Head¶

Neck¶

(o, R) is located on the joint: HeadYaw.

$\text{Mass} = 0.06442$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.00001 \\ 0.00014 \\ -0.02742 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00007499295 & +0.00000000157 & -0.00000001834 \\ +0.00000000157 & +0.00007599995 & -0.00000005295 \\ -0.00000001834 & -0.00000005295 & +0.00000553373 \\ \end{array} \right]_R$

Head¶

(o, R) is located on the joint: HeadPitch.

$\text{Mass} = 0.60533$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.00112 \\ 0.00003 \\ 0.05258 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00263129518 & +0.00000878814 & +0.00004098466 \\ +0.00000878814 & +0.00249112488 & -0.00002995792 \\ +0.00004098466 & -0.00002995792 & +0.00098573565 \\ \end{array} \right]_R$

Arms¶

Shoulders¶

Right¶

(o, R) is located on the joint: RShoulderPitch.

../../_images/hardware_rshouldermass_3.3.png

$\text{Mass} = 0.07504$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.00165 \\ +0.02663 \\ +0.00014 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00008428430 & +0.00000202802 & +0.00000002338 \\ +0.00000202802 & +0.00001415561 & +0.00000001972 \\ +0.00000002338 & +0.00000001972 & +0.00008641949 \\ \end{array} \right]_R$

Left¶

(o, R) is located on the joint: LShoulderPitch.

$\text{Mass} = 0.07504$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.00165 \\ -0.02663 \\ 0.00014 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00008428430 & -0.00000202802 & +0.00000002338 \\ -0.00000202802 & +0.00001415561 & -0.00000001972 \\ +0.00000002338 & -0.00000001972 & +0.00008641949 \\ \end{array} \right]_R$

Biceps¶

Right¶

(o, R) is located on the joint: RShoulderRoll.

../../_images/hardware_rbicepmass_3.3.png

$\text{Mass} = 0.15794$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.02429 \\ -0.00952 \\ 0.00320 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00011012031 & +0.00007669131 & -0.00002604607 \\ +0.00007669131 & +0.00036757653 & +0.00001209828 \\ -0.00002604607 & +0.00001209828 & +0.00035461772 \\ \end{array} \right]_R$

Left¶

(o, R) is located on the joint: LShoulderRoll.

$\text{Mass} = 0.15777$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.02455 \\ 0.00563 \\ 0.00330 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00009389993 & -0.00004714452 & -0.00002699471 \\ -0.00004714452 & +0.00037151879 & -0.00000245977 \\ -0.00002699471 & -0.00000245977 & +0.00034190083 \\ \end{array} \right]_R$

Elbows¶

Right¶

(o, R) is located on the joint: RElbowYaw.

../../_images/hardware_relbowmass_3.3.png

$\text{Mass} = 0.06483$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.02744 \\ 0.00000 \\ -0.00014 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00000559715 & +0.00000000421 & +0.00000004319 \\ +0.00000000421 & +0.00007543312 & -0.00000000184 \\ +0.00000004319 & -0.00000000184 & +0.00007644339 \\ \end{array} \right]_R$

Left¶

(o, R) is located on the joint: LElbowYaw.

$\text{Mass} = 0.06483$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.02744 \\ 0.00000 \\ -0.00014 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00000559715 & +0.00000000421 & +0.00000004319 \\ +0.00000000421 & +0.00007543312 & -0.00000000184 \\ +0.00000004319 & -0.00000000184 & +0.00007644339 \\ \end{array} \right]_R$

Motorized ForeArms¶

Right¶

(o, R) is located on the joint: RElbowRoll.

../../_images/hardware_rmotorizedforearmmass_3.3.png

$\text{Mass} = 0.07778$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.02552 \\ -0.00281 \\ 0.00090 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00002539070 & +0.00000233243 & -0.00000060117 \\ +0.00000233243 & +0.00008922036 & +0.00000002694 \\ -0.00000060117 & +0.00000002694 & +0.00008724843 \\ \end{array} \right]_R$

Left¶

(o, R) is located on the joint: LElbowRoll.

$\text{Mass} = 0.07761$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.02556 \\ 0.00281 \\ 0.00076 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00002533220 & -0.00000234271 & +0.00000007459 \\ -0.00000234271 & +0.00008913220 & -0.00000002655 \\ +0.00000007459 & -0.00000002655 & +0.00008728726 \\ \end{array} \right]_R$

Hands - not motorized¶

Right Not Motorized Hand¶

(o, R) is located on the joint: RElbowRoll.

../../_images/hardware_rnonmotorizedhandmass_3.3.png

$\text{Mass} = 0.18405$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.06530 \\ 0.00114 \\ 0.00051 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00007810423 & -0.00001233383 & +0.00000744169 \\ -0.00001233383 & +0.00112084378 & -0.00000054551 \\ +0.00000744169 & -0.00000054551 & +0.00112214306 \\ \end{array} \right]_R$

Left Not Motorized Hand¶

(o, R) is located on the joint: LElbowRoll.

$\text{Mass} = 0.18405$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.06530 \\ 0.00114 \\ 0.00051 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00007810423 & -0.00001233383 & +0.00000744169 \\ -0.00001233383 & +0.00112084378 & -0.00000054551 \\ +0.00000744169 & -0.00000054551 & +0.00112214306 \\ \end{array} \right]_R$

Legs¶

Pelvis¶

Right¶

(o, R) is located on the joint: RHipYawPitch.

../../_images/hardware_rpelvismass_3.3.png

$\text{Mass} = 0.07118$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.00766 \\ 0.01200 \\ 0.02716 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00008997195 & +0.00000500219 & +0.00001273525 \\ +0.00000500219 & +0.00010552611 & -0.00002770080 \\ +0.00001273525 & -0.00002770080 & +0.00006688724 \\ \end{array} \right]_R$

Left¶

(o, R) is located on the joint: LHipYawPitch.

$\text{Mass} = 0.06981$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.00781 \\ -0.01114 \\ 0.02661 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00008150233 & -0.00000499449 & +0.00001274817 \\ -0.00000499449 & +0.00010132555 & +0.00002345474 \\ +0.00001274817 & +0.00002345474 & +0.00006262363 \\ \end{array} \right]_R$

Hips¶

Right¶

(o, R) is located on the joint: RHipRoll.

$\text{Mass} = 0.13053$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.01549 \\ -0.00029 \\ -0.00516 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00002758654 & -0.00000001919 & -0.00000410822 \\ -0.00000001919 & +0.00009826996 & +0.00000000251 \\ -0.00000410822 & +0.00000000251 & +0.00008810332 \\ \end{array} \right]_R$

Left¶

(o, R) is located on the joint: LHipRoll.

$\text{Mass} = 0.13053$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.01549 \\ 0.00029 \\ -0.00515 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00002758354 & -0.00000002233 & -0.00000408164 \\ -0.00000002233 & +0.00009827055 & -0.00000000419 \\ -0.00000408164 & -0.00000000419 & +0.00008809973 \\ \end{array} \right]_R$

Thighs¶

Right¶

(o, R) is located on the joint: RHipPitch.

../../_images/hardware_rthighmass_3.3.png

$\text{Mass} = 0.38976$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.00139 \\ -0.00225 \\ -0.05374 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00163748205 & -0.00000083954 & +0.00008588301 \\ -0.00000083954 & +0.00159221403 & -0.00003917626 \\ +0.00008588301 & -0.00003917626 & +0.00030397824 \\ \end{array} \right]_R$

Left¶

(o, R) is located on the joint: LHipPitch.

$\text{Mass} = 0.38968$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.00138 \\ 0.00221 \\ -0.05373 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00163671962 & +0.00000092451 & +0.00008530668 \\ +0.00000092451 & +0.00159107278 & +0.00003836160 \\ +0.00008530668 & +0.00003836160 & +0.00030374342 \\ \end{array} \right]_R$

Tibia¶

Right¶

(o, R) is located on the joint: RKneePitch.

../../_images/hardware_rtibiamass_3.3.png

$\text{Mass} = 0.29163$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.00394 \\ -0.00221 \\ -0.04938 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00118282956 & -0.00000089650 & +0.00002799690 \\ -0.00000089650 & +0.00112827851 & -0.00003847604 \\ +0.00002799690 & -0.00003847604 & +0.00019145277 \\ \end{array} \right]_R$

Left¶

(o, R) is located on the joint: LKneePitch.

$\text{Mass} = 0.29142$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.00453 \\ 0.00225 \\ -0.04936 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00118207967 & +0.00000063362 & +0.00003649697 \\ +0.00000063362 & +0.00112865226 & +0.00003949523 \\ +0.00003649697 & +0.00003949523 & +0.00019322744 \\ \end{array} \right]_R$

Ankle¶

Right¶

(o, R) is located on the joint: RAnklePitch.

../../_images/hardware_ranklemass_3.3.png

$\text{Mass} = 0.13415$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.00045 \\ -0.00030 \\ 0.00684 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00003850813 & +0.00000006434 & +0.00000387466 \\ +0.00000006434 & +0.00007431082 & -0.00000000458 \\ +0.00000387466 & -0.00000000458 & +0.00005491312 \\ \end{array} \right]_R$

Left¶

(o, R) is located on the joint: LAnklePitch.

$\text{Mass} = 0.13416$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.00045 \\ 0.00029 \\ 0.00685 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00003850978 & -0.00000002634 & +0.00000386194 \\ -0.00000002634 & +0.00007426526 & +0.00000001834 \\ +0.00000386194 & +0.00000001834 & +0.00005486540 \\ \end{array} \right]_R$

Feet¶

Right¶

(o, R) is located on the joint: RAnkleRoll.

../../_images/hardware_rfootmass_3.3.png

$\text{Mass} = 0.16171$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.02540 \\ -0.00332 \\ -0.03239 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00026930201 & +0.00000587505 & +0.00013913328 \\ +0.00000587505 & +0.00064347385 & -0.00001884917 \\ +0.00013913328 & -0.00001884917 & +0.00052503477 \\ \end{array} \right]_R$

Left¶

(o, R) is located on the joint: LAnkleRoll.

$\text{Mass} = 0.16184$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.02542 \\ 0.00330 \\ -0.03239 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} +0.00026944182 & -0.00000569572 & +0.00013937948 \\ -0.00000569572 & +0.00064434250 & +0.00001874092 \\ +0.00013937948 & +0.00001874092 & +0.00052575675 \\ \end{array} \right]_R$

NAO Software 1.14.5 documentation

H21 - Masses¶

Legend¶

Whole robot¶

Torso¶

Head¶

Neck¶

Head¶

Arms¶

Shoulders¶

Right¶

Left¶

Biceps¶

Right¶

Left¶

Elbows¶

Right¶

Left¶

Motorized ForeArms¶

Right¶

Left¶

Hands - not motorized¶

Right Not Motorized Hand¶

Left Not Motorized Hand¶

Legs¶

Pelvis¶

Right¶

Left¶

Hips¶

Right¶

Left¶

Thighs¶

Right¶

Left¶

Tibia¶

Right¶

Left¶

Ankle¶

Right¶

Left¶

Feet¶

Right¶

Left¶

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