H21 - Links¶
Link definition¶
Links are defined using:
- Joint names (see Joints and Masses section to visualize them) and,
- a point called Torso, located at - 126.50 Z (mm) from HeadYaw.
Axis definition
The X axis is positive toward NAO’s front, the Y from right to left and the Z is vertical.
Head¶
| From ... | To ... | X (mm) | Y (mm) | Z (mm) |
|---|---|---|---|---|
| Torso | HeadYaw | 0.00 | 0.00 | 126.50 |
| HeadYaw | HeadPitch | 0.00 | 0.00 | 0.00 |
| Main length (mm) | |
|---|---|
| NeckOffsetZ | 126.50 |
Arms¶
| From ... | To ... | X (mm) | Y (mm) | Z (mm) |
|---|---|---|---|---|
| Torso | LShoulderPitch | 0.00 | 98.00 | 100.00 |
| LShoulderPitch | LShoulderRoll | 0.00 | 0.00 | 0.00 |
| LShoulderRoll | LElbowYaw | 105.00 | 15.00 | 0.00 |
| LElbowYaw | LElbowRoll | 0.00 | 0.00 | 0.00 |
| LElbowRoll | LWristYaw | 55.95 | 0.00 | 0.00 |
| Main length (mm) | |
|---|---|
| ShoulderOffsetY | 98.00 |
| ElbowOffsetY | 15.00 |
| UpperArmLength | 105.00 |
| LowerArmLength | 55.95 |
| ShoulderOffsetZ | 100.00 |
| HandOffsetX | 57.75 |
| HandOffsetZ | 12.31 |
Legs¶
| From ... | To ... | X (mm) | Y (mm) | Z (mm) |
|---|---|---|---|---|
| Torso | LHipYawPitch | 0.00 | 50.00 | -85.00 |
| LHipYawPitch | LHipRoll | 0.00 | 0.00 | 0.00 |
| LHipRoll | LHipPitch | 0.00 | 0.00 | 0.00 |
| LHipPitch | LKneePitch | 0.00 | 0.00 | -100.00 |
| LKneePitch | LAnklePitch | 0.00 | 0.00 | -102.90 |
| LAnklePitch | LAnkleRoll | 0.00 | 0.00 | 0.00 |
| Main length (mm) | |
|---|---|
| HipOffsetZ | 85.00 |
| HipOffsetY | 50.00 |
| ThighLength | 100.00 |
| TibiaLength | 102.90 |
| FootHeight | 45.19 |
