Pepper - 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 leg and arms pointing forwards.

juliet_xyz

Torso¶

(o, R) is located on: Torso.

$\text{Mass} = 3.9953$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.00322\\ 0\\ -0.01029 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.045699130744 & 0 & -0.0051232860424\\ 0 & 0.04373466596 & 0.00026688593789\\ -0.0051232860424 & 0.00026688593789 & 0.02592952922\\ \end{array} \right]_R$

Neck¶

(o, R) is located on: HeadYaw.

$\text{Mass} = 0.27391$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.00207\\ 0\\ -0.02636 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00053382734768 & 0 & 3.3802258258e-05\\ 0 & 0.00068539753556 & -2.0986299205e-06\\ 3.3802258258e-05 & -2.0986299205e-06 & 0.00021642596403\\ \end{array} \right]_R$

Head¶

(o, R) is located on: HeadPitch.

$\text{Mass} = 1.5189$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.00312\\ 0\\ 0.11152 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.024862580001 & 0 & 0.0004033621517\\ 0 & 0.024810679257 & -4.3427999685e-07\\ 0.0004033621517 & -4.3427999685e-07 & 0.0057185231708\\ \end{array} \right]_R$

Left Shoulder¶

(o, R) is located on: LShoulderPitch.

$\text{Mass} = 0.3125$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.00018\\ -0.01856\\ 0.00099 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00046915243729 & 9.3946999868e-07 & -5.8021998939e-07\\ 9.3946999868e-07 & 0.000137545896 & -5.3219999074e-08\\ -5.8021998939e-07 & -5.3219999074e-08 & 0.0005068522878\\ \end{array} \right]_R$

Left Bicep¶

(o, R) is located on: LShoulderRoll.

$\text{Mass} = 0.50527$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.08151\\ 0.01284\\ -0.01017 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00063643301837 & 0.00056440150365 & -0.00050397327868\\ 0.00056440150365 & 0.0046720537357 & -7.5047697464e-05\\ -0.00050397327868 & -7.5047697464e-05 & 0.0045974343084\\ \end{array} \right]_R$

Left Elbow¶

(o, R) is located on: LElbowYaw.

$\text{Mass} = 0.27495$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.02297\\ -0.00019\\ 0.00119 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00012337038061 & 2.1393999816e-07 & 1.8068200006e-05\\ 2.1393999816e-07 & 0.00047722423915 & 1.927079893e-06\\ 1.8068200006e-05 & 1.927079893e-06 & 0.00044812628767\\ \end{array} \right]_R$

Left ForeArm¶

(o, R) is located on: LElbowRoll.

$\text{Mass} = 0.16579$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.0593\\ 0.00271\\ -0.01014 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.0015833961079 & 1.1891290342e-05 & -3.911523163e-05\\ 1.1891290342e-05 & 0.0023322382476 & -4.3796198952e-06\\ -3.911523163e-05 & -4.3796198952e-06 & 0.00085729791317\\ \end{array} \right]_R$

Left Hand with fingers¶

(o, R) is located on: LWristYaw.

$\text{Mass} = 0.27555$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.03536\\ -0.00072\\ -0.00207 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00015296612401 & -1.7678210497e-05 & -2.3064030756e-05\\ -1.7678210497e-05 & 0.00077680806862 & 3.5478299196e-06\\ -2.3064030756e-05 & 3.5478299196e-06 & 0.0008008434088\\ \end{array} \right]_R$

Hip¶

(o, R) is located on: HipRoll.

$\text{Mass} = 1.0234$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.00032\\ 0\\ -0.06039 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.0087564364076 & 0 & 5.7145098253e-06\\ 0 & 0.010142030194 & -0.000159449075\\ 5.7145098253e-06 & -0.000159449075 & 0.0044109211303\\ \end{array} \right]_R$

Thighs¶

(o, R) is located on: HipPitch.

$\text{Mass} = 2.4592$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.00237\\ 0\\ -0.09654 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.057270400226 & 0 & -0.00078569183825\\ 0 & 0.053245455027 & 8.3754159277e-05\\ -0.00078569183825 & 8.3754159277e-05 & 0.014390878379\\ \end{array} \right]_R$

Base with Wheels¶

(o, R) is located on: KneePitch.

$\text{Mass} = 15.485$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.00249\\ 0\\ -0.20536 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.86977553368 & 0.00040178798372 & -0.0086652245373\\ 0.00040178798372 & 0.85964071751 & 0\\ -0.0086652245373 & 0 & 0.23531636596\\ \end{array} \right]_R$

Right Shoulder¶

(o, R) is located on: RShoulderPitch.

$\text{Mass} = 0.3125$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.00018\\ 0.01856\\ 0.00099 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00046915243729 & -9.3946999868e-07 & -5.8021998939e-07\\ -9.3946999868e-07 & 0.000137545896 & 5.3219999074e-08\\ -5.8021998939e-07 & 5.3219999074e-08 & 0.0005068522878\\ \end{array} \right]_R$

Right Bicep¶

(o, R) is located on: RShoulderRoll.

$\text{Mass} = 0.50527$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.08151\\ -0.01284\\ -0.01017 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00063643301837 & -0.00056440150365 & -0.00050397327868\\ -0.00056440150365 & 0.0046720537357 & 7.5047697464e-05\\ -0.00050397327868 & 7.5047697464e-05 & 0.0045974343084\\ \end{array} \right]_R$

Right Elbow¶

(o, R) is located on: RElbowYaw.

$\text{Mass} = 0.27495$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.02297\\ 0.00019\\ 0.00119 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00012337038061 & -2.1393999816e-07 & 1.8068200006e-05\\ -2.1393999816e-07 & 0.00047722423915 & -1.927079893e-06\\ 1.8068200006e-05 & -1.927079893e-06 & 0.00044812628767\\ \end{array} \right]_R$

Right ForeArm¶

(o, R) is located on: RElbowRoll.

$\text{Mass} = 0.16579$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.0593\\ -0.00271\\ -0.01014 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.0015833961079 & -1.1891290342e-05 & -3.911523163e-05\\ -1.1891290342e-05 & 0.0023322382476 & 4.3796198952e-06\\ -3.911523163e-05 & 4.3796198952e-06 & 0.00085729791317\\ \end{array} \right]_R$

Right Hand with fingers¶

(o, R) is located on: RWristYaw.

$\text{Mass} = 0.27555$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.03536\\ 0.00072\\ -0.00207 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00015296612401 & 1.7678210497e-05 & -2.3064030756e-05\\ 1.7678210497e-05 & 0.00077680806862 & -3.5478299196e-06\\ -2.3064030756e-05 & -3.5478299196e-06 & 0.0008008434088\\ \end{array} \right]_R$

Appendix¶

Wheel - Front Left¶

(o, R) is located on: WheelFL.

$\text{Mass} = 0$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.00058\\ -0.00063\\ 0.0001 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.0025765921455 & -1.6344199594e-06 & -4.1009738197e-05\\ -1.6344199594e-06 & 0.0026606358588 & -1.8152999814e-07\\ -4.1009738197e-05 & -1.8152999814e-07 & 0.0024298275821\\ \end{array} \right]_R$

Wheel - Front Right¶

(o, R) is located on: WheelFR.

$\text{Mass} = 0$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.00058\\ -0.00063\\ 0.0001 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.0025765921455 & -1.6344199594e-06 & -4.1009738197e-05\\ -1.6344199594e-06 & 0.0026606358588 & -1.8152999814e-07\\ -4.1009738197e-05 & -1.8152999814e-07 & 0.0024298275821\\ \end{array} \right]_R$

Wheel - Back¶

(o, R) is located on: WheelB.

$\text{Mass} = 0$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.00058\\ -0.00063\\ 0.0001 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.0025765921455 & -1.6344199594e-06 & -4.1009738197e-05\\ -1.6344199594e-06 & 0.0026606358588 & -1.8152999814e-07\\ -4.1009738197e-05 & -1.8152999814e-07 & 0.0024298275821\\ \end{array} \right]_R$

Aldebaran 2.0.6.8 documentation

Pepper - Masses¶

Legend¶

Torso¶

Neck¶

Head¶

Left Shoulder¶

Left Bicep¶

Left Elbow¶

Left ForeArm¶

Left Hand with fingers¶

Hip¶

Thighs¶

Base with Wheels¶

Right Shoulder¶

Right Bicep¶

Right Elbow¶

Right ForeArm¶

Right Hand with fingers¶