Romeo - Masses¶

Introduction¶

This page details the mass, center of mass and inertial matrix of each solid (S) on the right side of Romeo.

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).

$\text{Mass (kg)}$

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

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

Trunk¶

Torso¶

(o, R) is located on: Torso.

../../_images/romeo_hardware_mass_trunk.png

$\text{Mass} = 6.1234$

$\text{CoM(S)} = \left[\begin{array}{c} +0.03771 \\ +0.00033 \\ -0.02644 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.059123600 & -0.000053627 & +0.010957853 \\ -0.000053627 & +0.056744837 & -0.000056943 \\ +0.010957853 & -0.000056943 & +0.066262400 \\ \end{array}\right]_R$

TrunkYaw¶

(o, R) is located on: TrunkYaw.

$\text{Mass} = 4.4142$

$\text{CoM(S)} = \left[\begin{array}{c} +0.02825 \\ +0.00045 \\ -0.16653 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.171121478 & +0.000062701 & -0.028881225 \\ +0.000062701 & +0.170918235 & -0.000029272 \\ -0.028881225 & -0.000029272 & +0.021811118 \\ \end{array}\right]_R$

Head¶

NeckYaw¶

(o, R) is located on: NeckYaw.

$\text{Mass} = 0.327$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00105 \\ 0.00003 \\ -0.03065 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000549 & -0.000000 & 0.000006 \\ -0.000000 & 0.000533 & -0.000001 \\ 0.000006 & -0.000001 & 0.000074 \end{array}\right]_R$

NeckPitch¶

(o, R) is located on: NeckPitch.

$\text{Mass} = 0.299$

$\text{CoM(S)} = \left[\begin{array}{c} 0.00372 \\ 0.00241 \\ 0.04811 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.001105 & -0.000002 & 0.000058 \\ -0.000002 & 0.001081 & 0.000050 \\ 0.000058 & 0.000050 & 0.000268 \end{array}\right]_R$

HeadPitch¶

$\text{Mass} = 0.137$

$\text{CoM(S)} = \left[\begin{array}{c} 0.0014 \\ 0.00001 \\ -0.00462 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000025 & 0.000000 & -0.000012 \\ 0.000000 & 0.000068 & -0.000000 \\ -0.000012 & -0.000000 & 0.000058 \end{array}\right]_R$

HeadRoll¶

$\text{Mass} = 1.79$

$\text{CoM(S)} = \left[\begin{array}{c} 0.01263 \\ +0.00181 \\ +0.07498 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.015776 & -0.000000 & 0.000706 \\ -0.000000 & 0.017605 & 0.000186 \\ 0.000706 & 0.000186 & 0.007703 \end{array}\right]_R$

Left Arm¶

LShoulderPitch¶

$\text{Mass} = 0.43527$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00079 \\ -0.02878 \\ +0.00012 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000669 & 0.000003 & -0.000002 \\ 0.000003 & 0.000110 & -0.000008 \\ -0.000002 & -0.000008 & 0.000652 \end{array}\right]_R$

LShoulderYaw¶

$\text{Mass} = 0.6962$

$\text{CoM(S)} = \left[\begin{array}{c} +0.09638 \\ +0.00372 \\ +0.00629 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000919 & 0.000095 & 0.000484 \\ 0.000095 & 0.008967 & 0.000003 \\ 0.000484 & 0.000003 & 0.008849 \end{array}\right]_R$

LElbowRoll¶

../../_images/romeo_hardware_mass_elbowroll.png

$\text{Mass} = 0.48271$

$\text{CoM(S)} = \left[\begin{array}{c} -0.03493 \\ -0.00067 \\ +0.00009 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000166 & 0.000002 & -0.000004 \\ 0.000002 & 0.000997 & 0.000001 \\ -0.000004 & 0.000001 & 0.000957 \end{array}\right]_R$

LElbowYaw¶

$\text{Mass} = 0.36997$

$\text{CoM(S)} = \left[\begin{array}{c} +0.06866 \\ +0.00970 \\ -0.00148 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000444 & 0.000225 & 0.000014 \\ 0.000225 & 0.002772 & 0.000003 \\ 0.000014 & 0.000003 & 0.002763 \end{array}\right]_R$

LWristRoll¶

../../_images/romeo_hardware_mass_wristroll.png

$\text{Mass} = 0.17551$

$\text{CoM(S)} = \left[\begin{array}{c} -0.05925 \\ -0.00006 \\ -0.00122 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000078 & -0.000001 & -0.000014 \\ -0.000001 & 0.000925 & -0.000000 \\ -0.000014 & -0.000000 & 0.000913 \end{array}\right]_R$

LWristYaw¶

../../_images/romeo_hardware_mass_wristyaw.png

$\text{Mass} = 0.06100$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00657 \\ -0.00017 \\ +0.00018 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000012 & 0.000000 & 0.000000 \\ 0.000000 & 0.000031 & 0.000000 \\ 0.000000 & 0.000000 & 0.000031 \end{array}\right]_R$

LWristPitch¶

$\text{Mass} = 0.35549$

$\text{CoM(S)} = \left[\begin{array}{c} +0.07358 \\ -0.00628 \\ -0.00098 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000340 & -0.000161 & 0.000041 \\ -0.000161 & 0.002592 & 0.000061 \\ 0.000041 & 0.000061 & 0.002759 \end{array}\right]_R$

Right Arm¶

RShoulderPitch¶

$\text{Mass} = 0.43527$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00079 \\ +0.02878 \\ +0.00012 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000669 & 0.000003 & -0.000002 \\ 0.000003 & 0.000110 & -0.000008 \\ -0.000002 & -0.000008 & 0.000652 \end{array}\right]_R$

RShoulderYaw¶

$\text{Mass} = 0.69262$

$\text{CoM(S)} = \left[\begin{array}{c} +0.09638 \\ -0.00372 \\ +0.00629 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000919 & 0.000095 & 0.000484 \\ 0.000095 & 0.008967 & 0.000003 \\ 0.000484 & 0.000003 & 0.008849 \end{array}\right]_R$

RElbowRoll¶

$\text{Mass} = 0.48271$

$\text{CoM(S)} = \left[\begin{array}{c} -0.03493 \\ +0.00067 \\ +0.00009 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000166 & 0.000002 & -0.000004 \\ 0.000002 & 0.000997 & 0.000001 \\ -0.000004 & 0.000001 & 0.000957 \end{array}\right]_R$

RElbowYaw¶

$\text{Mass} = 0.36997$

$\text{CoM(S)} = \left[\begin{array}{c} +0.06866 \\ -0.00970 \\ -0.00148 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000444 & 0.000225 & 0.000014 \\ 0.000225 & 0.002772 & 0.000003 \\ 0.000014 & 0.000003 & 0.002763 \end{array}\right]_R$

RWristRoll¶

$\text{Mass} = 0.17551$

$\text{CoM(S)} = \left[\begin{array}{c} -0.05925 \\ +0.00006 \\ -0.00122 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000078 & -0.000001 & -0.000014 \\ -0.000001 & 0.000925 & -0.000000 \\ -0.000014 & -0.000000 & 0.000913 \end{array}\right]_R$

RWristYaw¶

$\text{Mass} = 0.06100$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00657 \\ +0.00017 \\ +0.00018 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000012 & 0.000000 & 0.000000 \\ 0.000000 & 0.000031 & 0.000000 \\ 0.000000 & 0.000000 & 0.000031 \end{array}\right]_R$

RWristPitch¶

$\text{Mass} = 0.35549$

$\text{CoM(S)} = \left[\begin{array}{c} +0.07358 \\ +0.00628 \\ -0.00098 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000340 & -0.000161 & 0.000041 \\ -0.000161 & 0.002592 & 0.000061 \\ 0.000041 & 0.000061 & 0.002759 \end{array}\right]_R$

Left Leg¶

LHipYaw¶

$\text{Mass} = 0.51527$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00922 \\ -0.00167 \\ +0.04200 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.001708 & -0.000009 & -0.000032 \\ -0.000009 & 0.002270 & 0.000040 \\ -0.000032 & 0.000040 & 0.000830 \end{array}\right]_R$

LHipRoll¶

$\text{Mass} = 0.65864$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00249 \\ -0.00205 \\ -0.00147 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000868 & -0.000003 & 0.000001 \\ -0.000003 & 0.000511 & -0.000001 \\ 0.000001 & -0.000001 & 0.000945 \end{array}\right]_R$

LHipPitch¶

$\text{Mass} = 4.34097$

$\text{CoM(S)} = \left[\begin{array}{c} -0.02138 \\ +0.00255 \\ -0.14577 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.128271 & -0.000259 & 0.009517 \\ -0.000259 & 0.130634 & -0.000957 \\ 0.009517 & -0.000957 & 0.013310 \end{array}\right]_R$

LKneePitch¶

$\text{Mass} = 2.50906$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00415 \\ -0.00054 \\ -0.11011 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.045084 & -0.000006 & 0.001636 \\ -0.000006 & 0.045030 & -0.000155 \\ 0.001636 & -0.000155 & 0.003446 \end{array}\right]_R$

LAnklePitch¶

$\text{Mass} = 0.42803$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00132 \\ -0.00117 \\ +0.00015 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000339 & 0.000001 & 0.000000 \\ 0.000001 & 0.000221 & -0.000001 \\ 0.000000 & -0.000001 & 0.000393 \end{array}\right]_R$

LAnkleRoll¶

$\text{Mass} = 0.74347$

$\text{CoM(S)} = \left[\begin{array}{c} +0.01872 \\ +0.00223 \\ -0.03215 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.003507 & 0.000000 & 0.000000 \\ 0.000000 & 0.016213 & 0.000000 \\ 0.000000 & 0.000000 & 0.014735 \end{array}\right]_R$

LToePitch¶

$\text{Mass} = 0.24032$

$\text{CoM(S)} = \left[\begin{array}{c} +0.02067 \\ -0.00198 \\ -0.00964 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.000232177 & +0.000026659 & -0.000059566 \\ +0.000026659 & +0.000296598 & -0.000002851 \\ -0.000059566 & -0.000002851 & +0.000427637 \end{array}\right]_R$

LAnkleRollBasic¶

$\text{Mass} = 1.07155$

$\text{CoM(S)} = \left[\begin{array}{c} +0.07856 \\ -0.00603 \\ -0.04513 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00350695791 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.01621291202 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.01473534683 \end{array}\right]_R$

Right Leg¶

RHipYaw¶

$\text{Mass} = 0.49477$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00922 \\ +0.00167 \\ +0.04200 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.001708 & -0.000009 & -0.000032 \\ -0.000009 & 0.002270 & 0.000040 \\ -0.000032 & 0.000040 & 0.000830 \end{array}\right]_R$

RHipRoll¶

$\text{Mass} = 0.65864$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00249 \\ +0.00205 \\ -0.00147 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000868 & -0.000003 & 0.000001 \\ -0.000003 & 0.000511 & -0.000001 \\ 0.000001 & -0.000001 & 0.000945 \end{array}\right]_R$

RHipPitch¶

$\text{Mass} = 4.34097$

$\text{CoM(S)} = \left[\begin{array}{c} -0.02138 \\ -0.00255 \\ -0.14577 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.128271 & -0.000259 & 0.009517 \\ -0.000259 & 0.130634 & -0.000957 \\ 0.009517 & -0.000957 & 0.013310 \end{array}\right]_R$

RKneePitch¶

$\text{Mass} = 2.50906$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00415 \\ +0.00054 \\ -0.11011 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.045084 & -0.000006 & 0.001636 \\ -0.000006 & 0.045030 & -0.000155 \\ 0.001636 & -0.000155 & 0.003446 \end{array}\right]_R$

RAnklePitch¶

$\text{Mass} = 0.42803$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00132 \\ +0.00117 \\ +0.00015 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.000339 & 0.000001 & 0.000000 \\ 0.000001 & 0.000221 & -0.000001 \\ 0.000000 & -0.000001 & 0.000393 \end{array}\right]_R$

RAnkleRoll¶

$\text{Mass} = 0.74347$

$\text{CoM(S)} = \left[\begin{array}{c} +0.01872 \\ -0.00223 \\ -0.03215 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} 0.003507 & 0.000000 & 0.000000 \\ 0.000000 & 0.016213 & 0.000000 \\ 0.000000 & 0.000000 & 0.014735 \end{array}\right]_R$

RToePitch¶

$\text{Mass} = 0.24032$

$\text{CoM(S)} = \left[\begin{array}{c} +0.02067 \\ +0.00198 \\ -0.00964 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.000232177 & +0.000026659 & +0.000059566 \\ +0.000026659 & +0.000296598 & -0.000002851 \\ -0.000059566 & -0.000002851 & +0.000427637 \end{array}\right]_R$

RFoot (first prototype)¶

It is composed of RAnkleRoll and RToePitch joints.

$\text{Mass} = 1.07155$

$\text{CoM(S)} = \left[\begin{array}{c} +0.07856 \\ +0.00603 \\ -0.04513 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00350695791 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.01621291202 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.01473534683 \end{array}\right]_R$

Aldebaran documentation

Romeo - Masses¶

Introduction¶

Trunk¶

Torso¶

TrunkYaw¶

Head¶

NeckYaw¶

NeckPitch¶

HeadPitch¶

HeadRoll¶

Left Arm¶

LShoulderPitch¶

LShoulderYaw¶

LElbowRoll¶

LElbowYaw¶

LWristRoll¶

LWristYaw¶

LWristPitch¶

Right Arm¶

RShoulderPitch¶

RShoulderYaw¶

RElbowRoll¶

RElbowYaw¶

RWristRoll¶

RWristYaw¶

RWristPitch¶

Left Leg¶

LHipYaw¶

LHipRoll¶

LHipPitch¶

LKneePitch¶

LAnklePitch¶

LAnkleRoll¶

LToePitch¶

LAnkleRollBasic¶

Right Leg¶

RHipYaw¶

RHipRoll¶

RHipPitch¶

RKneePitch¶

RAnklePitch¶

RAnkleRoll¶

RToePitch¶

RFoot (first prototype)¶

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