Masses¶

Warning

The Masses as well as the Center of Mass positions taken in account in the robot models have been updated in order to remove the slight dissymmetry between left and right limbs.

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.

Torso¶

(o, R) is located on: Torso.

$\text{Mass} = 3.99533$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.0452761 & 0 & -0.00525567\\ 0 & 0.0432702 & 0.000266886\\ -0.00525567 & 0.000266886 & 0.0258881\\ \end{array} \right]_R$

Neck¶

(o, R) is located on: HeadYaw.

$\text{Mass} = 0.27391$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.000343501 & 0 & 4.87482e-05\\ 0 & 0.000493898 & -2.09863e-06\\ 4.87482e-05 & -2.09863e-06 & 0.000215252\\ \end{array} \right]_R$

Head¶

(o, R) is located on: HeadPitch.

$\text{Mass} = 1.51893$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00597209 & 0 & 0.000931862\\ 0 & 0.0059054 & -4.3428e-07\\ 0.000931862 & -4.3428e-07 & 0.00570374\\ \end{array} \right]_R$

Left Shoulder¶

(o, R) is located on: LShoulderPitch.

$\text{Mass} = 0.3125$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.000361198 & -1.0453e-07 & -5.24532e-07\\ -1.0453e-07 & 0.000137229 & -5.79522e-06\\ -5.24532e-07 & -5.79522e-06 & 0.000399194\\ \end{array} \right]_R$

Left Bicep¶

(o, R) is located on: LShoulderRoll.

$\text{Mass} = 0.50527$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.000500872 & 0.00109321 & -0.00092282\\ 0.00109321 & 0.00126284 & -0.000141027\\ -0.00092282 & -0.000141027 & 0.00115718\\ \end{array} \right]_R$

Left Elbow¶

(o, R) is located on: LElbowYaw.

$\text{Mass} = 0.27495$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.000122971 & 1.4139e-06 & 1.05526e-05\\ 1.4139e-06 & 0.000331766 & 1.86491e-06\\ 1.05526e-05 & 1.86491e-06 & 0.000303047\\ \end{array} \right]_R$

Left ForeArm¶

(o, R) is located on: LElbowRoll.

$\text{Mass} = 0.16579$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00156513 & 3.85342e-05 & -0.000138805\\ 3.85342e-05 & 0.00173219 & -8.93543e-06\\ -0.000138805 & -8.93543e-06 & 0.000273081\\ \end{array} \right]_R$

Left Hand with fingers¶

(o, R) is located on: LWristYaw.

$\text{Mass} = 0.27555$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.000151643 & -2.46935e-05 & -4.3233e-05\\ -2.46935e-05 & 0.000431099 & 3.95851e-06\\ -4.3233e-05 & 3.95851e-06 & 0.000456172\\ \end{array} \right]_R$

Hip¶

(o, R) is located on: HipRoll.

$\text{Mass} = 1.02338$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00502422 & 0 & -1.40621e-05\\ 0 & 0.00640971 & -0.000159449\\ -1.40621e-05 & -0.000159449 & 0.00441082\\ \end{array} \right]_R$

Thighs¶

(o, R) is located on: HipPitch.

$\text{Mass} = 2.45917$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.034351 & 0 & -0.00134835\\ 0 & 0.0303122 & 8.37542e-05\\ -0.00134835 & 8.37542e-05 & 0.0143771\\ \end{array} \right]_R$

Base¶

(o, R) is located on: KneePitch.

$\text{Mass} = 11.6015$

$\text{CoM(S)} = \left[ \begin{array}{c} 0.00220451\\ 0\\ -0.185729 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.129229 & 0.000401632 & -0.0168449\\ 0.000401632 & 0.122839 & -1.01666e-08\\ -0.0168449 & -1.01666e-08 & 0.108168\\ \end{array} \right]_R$

Wheel - Front Left¶

(o, R) is located on: WheelFL.

$\text{Mass} = 1.58028$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00299756 & -6.3068e-07 & -5.56903e-06\\ -6.3068e-07 & 0.00303229 & 9.0408e-07\\ -5.56903e-06 & 9.0408e-07 & 0.00296585\\ \end{array} \right]_R$

Wheel - Front Right¶

(o, R) is located on: WheelFR.

$\text{Mass} = 1.58028$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00299756 & -6.3068e-07 & -5.56903e-06\\ -6.3068e-07 & 0.00303229 & 9.0408e-07\\ -5.56903e-06 & 9.0408e-07 & 0.00296585\\ \end{array} \right]_R$

Wheel - Back¶

(o, R) is located on: WheelB.

$\text{Mass} = 1.58028$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00299756 & -6.3068e-07 & -5.56903e-06\\ -6.3068e-07 & 0.00303229 & 9.0408e-07\\ -5.56903e-06 & 9.0408e-07 & 0.00296585\\ \end{array} \right]_R$

Right Shoulder¶

(o, R) is located on: RShoulderPitch.

$\text{Mass} = 0.3125$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.000361198 & 1.0453e-07 & -5.24532e-07\\ 1.0453e-07 & 0.000137229 & 5.79522e-06\\ -5.24532e-07 & 5.79522e-06 & 0.000399194\\ \end{array} \right]_R$

Right Bicep¶

(o, R) is located on: RShoulderRoll.

$\text{Mass} = 0.50527$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.000500872 & -0.00109321 & -0.00092282\\ -0.00109321 & 0.00126284 & 0.000141027\\ -0.00050397327868 & 0.000141027 & 0.00115718\\ \end{array} \right]_R$

Right Elbow¶

(o, R) is located on: RElbowYaw.

$\text{Mass} = 0.27495$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.000122971 & -1.4139e-06 & 1.05526e-05\\ -1.4139e-06 & 0.000331766 & -1.86491e-06\\ 1.05526e-05 & -1.86491e-06 & 0.000303047\\ \end{array} \right]_R$

Right ForeArm¶

(o, R) is located on: RElbowRoll.

$\text{Mass} = 0.16579$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00156513 & -3.85342e-05 & -0.000138805\\ -3.85342e-05 & 0.00173219 & 8.93543e-06\\ -0.000138805 & 8.93543e-06 & 0.000273081\\ \end{array} \right]_R$

Right Hand with fingers¶

(o, R) is located on: RWristYaw.

$\text{Mass} = 0.27555$

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

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.000151643 & 2.46935e-05 & -4.3233e-05\\ 2.46935e-05 & 0.000431099 & -3.95851e-06\\ -4.3233e-05 & -3.95851e-06 & 0.000456172\\ \end{array} \right]_R$

Aldebaran documentation What's new in NAOqi 2.4.3?

Masses¶

Legend¶

Torso¶

Neck¶

Head¶

Left Shoulder¶

Left Bicep¶

Left Elbow¶

Left ForeArm¶

Left Hand with fingers¶

Hip¶

Thighs¶

Base¶

Wheel - Front Left¶

Wheel - Front Right¶

Wheel - Back¶

Right Shoulder¶

Right Bicep¶

Right Elbow¶

Right ForeArm¶

Right Hand with fingers¶

On this page

Aldebaran documentation What's new in NAOqi 2.4.3?

Quick search

Masses¶

Legend¶

Torso¶

Neck¶

Head¶

Left Shoulder¶

Left Bicep¶

Left Elbow¶

Left ForeArm¶

Left Hand with fingers¶

Hip¶

Thighs¶

Base¶

Wheel - Front Left¶

Wheel - Front Right¶

Wheel - Back¶

Right Shoulder¶

Right Bicep¶

Right Elbow¶

Right ForeArm¶

Right Hand with fingers¶