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

$\text{Mass} = 1.0496$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.00413\\ 0\\ 0.04342 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.0050623407587 & 1.4311580344e-05 & 0.00015519082081\\ 1.4311580344e-05 & 0.0048801358789 & -2.7079340725e-05\\ 0.00015519082081 & -2.7079340725e-05 & 0.001610300038\\ \end{array} \right]_R$

Head¶

Neck¶

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

$\text{Mass} = 0.07842$

$\text{CoM(S)} = \left[ \begin{array}{c} -1e-05\\ 0\\ -0.02742 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 7.4992953159e-05 & 1.5700000189e-09 & -1.8339999741e-08\\ 1.5700000189e-09 & 7.5999952969e-05 & -5.294999994e-08\\ -1.8339999741e-08 & -5.294999994e-08 & 5.5337300182e-06\\ \end{array} \right]_R$

Head¶

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

$\text{Mass} = 0.60533$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.00112\\ 0\\ 0.05258 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.0026312952396 & 8.788139894e-06 & 4.0984661609e-05\\ 8.788139894e-06 & 0.0024911249056 & -2.995792056e-05\\ 4.0984661609e-05 & -2.995792056e-05 & 0.00098573567811\\ \end{array} \right]_R$

Arms¶

Right Shoulder¶

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

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

$\text{Mass} = 0.09304$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 8.4284300101e-05 & 2.0280199351e-06 & 2.3380000158e-08\\ 2.0280199351e-06 & 1.4155610188e-05 & 1.9719999855e-08\\ 2.3380000158e-08 & 1.9719999855e-08 & 8.6419488071e-05\\ \end{array} \right]_R$

Left Shoulder¶

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

$\text{Mass} = 0.09304$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 8.4284300101e-05 & -2.0280199351e-06 & 2.3380000158e-08\\ -2.0280199351e-06 & 1.4155610188e-05 & -1.9719999855e-08\\ 2.3380000158e-08 & -1.9719999855e-08 & 8.6419488071e-05\\ \end{array} \right]_R$

Right Biceps¶

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

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

$\text{Mass} = 0.15777$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.02455\\ -0.00563\\ 0.0033 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00011012030882 & 7.6691307186e-05 & -2.6046069252e-05\\ 7.6691307186e-05 & 0.00036757651833 & 1.2098280422e-05\\ -2.6046069252e-05 & 1.2098280422e-05 & 0.00035461771768\\ \end{array} \right]_R$

Left Biceps¶

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

$\text{Mass} = 0.15777$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.02455\\ 0.00563\\ 0.0033 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 9.3899929198e-05 & -4.7144520067e-05 & -2.6994710424e-05\\ -4.7144520067e-05 & 0.00037151877768 & -2.4597700303e-06\\ -2.6994710424e-05 & -2.4597700303e-06 & 0.00034190082806\\ \end{array} \right]_R$

Right Elbow¶

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

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

$\text{Mass} = 0.06483$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.02744\\ 0\\ -0.00014 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 5.5971499933e-06 & 4.2099999042e-09 & 4.3189999133e-08\\ 4.2099999042e-09 & 7.5433119491e-05 & -1.8400000412e-09\\ 4.3189999133e-08 & -1.8400000412e-09 & 7.6443393482e-05\\ \end{array} \right]_R$

Left Elbow¶

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

$\text{Mass} = 0.06483$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.02744\\ 0\\ -0.00014 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 5.5971499933e-06 & 4.2099999042e-09 & 4.3189999133e-08\\ 4.2099999042e-09 & 7.5433119491e-05 & -1.8400000412e-09\\ 4.3189999133e-08 & -1.8400000412e-09 & 7.6443393482e-05\\ \end{array} \right]_R$

Right ForeArm¶

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

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

$\text{Mass} = 0.07761$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 2.5390700102e-05 & 2.3324300855e-06 & -6.0116997247e-07\\ 2.3324300855e-06 & 8.9220360678e-05 & 2.6940000453e-08\\ -6.0116997247e-07 & 2.6940000453e-08 & 8.7248430646e-05\\ \end{array} \right]_R$

Left ForeArm¶

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

$\text{Mass} = 0.07761$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 2.5332199584e-05 & -2.3427101041e-06 & 7.4589998178e-08\\ -2.3427101041e-06 & 8.91321979e-05 & -2.6549999532e-08\\ 7.4589998178e-08 & -2.6549999532e-08 & 8.7287262431e-05\\ \end{array} \right]_R$

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¶

Right Pelvis¶

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

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

$\text{Mass} = 0.06981$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 8.9971952548e-05 & 5.0021899369e-06 & 1.2735249584e-05\\ 5.0021899369e-06 & 0.00010552610911 & -2.7700800274e-05\\ 1.2735249584e-05 & -2.7700800274e-05 & 6.6887238063e-05\\ \end{array} \right]_R$

Left Pelvis¶

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

$\text{Mass} = 0.06981$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 8.1502330431e-05 & -4.9944901548e-06 & 1.2748169866e-05\\ -4.9944901548e-06 & 0.00010132555326 & 2.3454740585e-05\\ 1.2748169866e-05 & 2.3454740585e-05 & 6.2623628764e-05\\ \end{array} \right]_R$

Right Hip¶

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

$\text{Mass} = 0.14053$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 2.7586540455e-05 & -1.91900007e-08 & -4.108219855e-06\\ -1.91900007e-08 & 9.8269956652e-05 & 2.5099999856e-09\\ -4.108219855e-06 & 2.5099999856e-09 & 8.8103319285e-05\\ \end{array} \right]_R$

Left Hip¶

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

$\text{Mass} = 0.14053$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 2.7583539122e-05 & -2.2329999183e-08 & -4.0816398723e-06\\ -2.2329999183e-08 & 9.8270553281e-05 & -4.1899999026e-09\\ -4.0816398723e-06 & -4.1899999026e-09 & 8.8099732238e-05\\ \end{array} \right]_R$

Right Thigh¶

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

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

$\text{Mass} = 0.38968$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.0016374820843 & -8.3954000729e-07 & 8.5883009888e-05\\ -8.3954000729e-07 & 0.0015922139864 & -3.9176258724e-05\\ 8.5883009888e-05 & -3.9176258724e-05 & 0.00030397824594\\ \end{array} \right]_R$

Left Thigh¶

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

$\text{Mass} = 0.38968$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.001636719564 & 9.2451000455e-07 & 8.5306681285e-05\\ 9.2451000455e-07 & 0.001591072767 & 3.8361598854e-05\\ 8.5306681285e-05 & 3.8361598854e-05 & 0.00030374340713\\ \end{array} \right]_R$

Right Tibia¶

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

$\text{Mass} = 0.30142$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.0011828296119 & -8.96500012e-07 & 2.7996900826e-05\\ -8.96500012e-07 & 0.0011282785563 & -3.8476038753e-05\\ 2.7996900826e-05 & -3.8476038753e-05 & 0.00019145276747\\ \end{array} \right]_R$

Left Tibia¶

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

$\text{Mass} = 0.30142$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.0011820796644 & 6.3362000446e-07 & 3.6496971006e-05\\ 6.3362000446e-07 & 0.0011286522495 & 3.949522943e-05\\ 3.6496971006e-05 & 3.949522943e-05 & 0.00019322744629\\ \end{array} \right]_R$

Right Ankle¶

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

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

$\text{Mass} = 0.13416$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 3.8508129364e-05 & 6.4339999994e-08 & 3.8746597966e-06\\ 6.4339999994e-08 & 7.4310817581e-05 & -4.5799999349e-09\\ 3.8746597966e-06 & -4.5799999349e-09 & 5.491311822e-05\\ \end{array} \right]_R$

Left Ankle¶

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

$\text{Mass} = 0.13416$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 3.8509781007e-05 & -2.6340000403e-08 & 3.8619400584e-06\\ -2.6340000403e-08 & 7.4265262811e-05 & 1.8339999741e-08\\ 3.8619400584e-06 & 1.8339999741e-08 & 5.4865398852e-05\\ \end{array} \right]_R$

Right Foot¶

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

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

$\text{Mass} = 0.17184$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.02542\\ -0.0033\\ -0.03239 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00026930202148 & 5.8750501921e-06 & 0.00013913327712\\ 5.8750501921e-06 & 0.00064347387524 & -1.8849170374e-05\\ 0.00013913327712 & -1.8849170374e-05 & 0.00052503478946\\ \end{array} \right]_R$

Left Foot¶

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

$\text{Mass} = 0.17184$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.02542\\ 0.0033\\ -0.03239 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00026944180718 & -5.6957201195e-06 & 0.00013937948097\\ -5.6957201195e-06 & 0.00064434250817 & 1.8740920495e-05\\ 0.00013937948097 & 1.8740920495e-05 & 0.00052575673908\\ \end{array} \right]_R$

Aldebaran 2.0.6.8 documentation

H21 - Masses¶

Legend¶

Whole robot¶

Torso¶