H21 - Masses - V3.2¶

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¶

$\text{Mass} = 4.83592$

Torso¶

(o, R) is located on: Torso.

$\text{Mass} = 1.02628$

$CoM(S) = \left[ \begin{array}{c} -0.00480 \\ +0.00000 \\ +0.04227 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00487953284 & +0.00001428591 & +0.00019545651 \\ +0.00001428591 & +0.00470360698 & -0.00002224589 \\ +0.00019545651 & -0.00002224589 & +0.00156713520 \end{array} \right]_R$

Head¶

Neck¶

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

$\text{Mass} = 0.05959$

$CoM(S) = \left[ \begin{array}{c} -0.00003 \\ +0.00000 \\ -0.02573 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00006223368 & -0.00000000042 & -0.00000007448 \\ -0.00000000042 & +0.00006324431 & -0.00000010416 \\ -0.00000007448 & -0.00000010416 & +0.00000549462 \end{array} \right]_R$

Head¶

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

$\text{Mass} = 0.47671$

$CoM(S) = \left[ \begin{array}{c} +0.00383 \\ +0.00000 \\ +0.05156 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00208895741 & -0.00000549094 & -0.00011339950 \\ -0.00000549094 & +0.00193222263 & +0.00002803917 \\ -0.00011339950 & +0.00002803917 & +0.00082257793 \end{array} \right]_R$

Arms¶

Right Shoulder¶

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

../../_images/hardware_rshouldermass.png

$\text{Mass} = 0.06984$

$CoM(S) = \left[ \begin{array}{c} -0.00178 \\ +0.02507 \\ +0.00019 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00007101854 & +0.00000202458 & +0.00000001713 \\ +0.00000202458 & +0.00001404920 & +0.00000004410 \\ +0.00000001713 & +0.00000004410 & +0.00007314467 \end{array} \right]_R$

Left Shoulder¶

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

$\text{Mass} = 0.06984$

$CoM(S) = \left[ \begin{array}{c} -0.00178 \\ -0.02507 \\ +0.00019 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00007101854 & -0.00000202458 & +0.00000001713 \\ -0.00000202458 & +0.00001404920 & -0.00000004410 \\ +0.00000001713 & -0.00000004410 & +0.00007314467 \end{array} \right]_R$

Right Bicep¶

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

$\text{Mass} = 0.12166$

$CoM(S) = \left[ \begin{array}{c} +0.02067 \\ -0.00388 \\ +0.00362 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00005931793 & +0.00000193929 & -0.00001564503 \\ +0.00000193929 & +0.00020221058 & +0.00000368731 \\ -0.00001564503 & +0.00000368731 & +0.00018421556 \end{array} \right]_R$

Left Bicep¶

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

$\text{Mass} = 0.12166$

$CoM(S) = \left[ \begin{array}{c} +0.02067 \\ +0.00388 \\ +0.00362 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00005931793 & -0.00000193929 & -0.00001564503 \\ -0.00000193929 & +0.00020221058 & -0.00000368731 \\ -0.00001564503 & -0.00000368731 & +0.00018421556 \end{array} \right]_R$

Right Elbow¶

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

$\text{Mass} = 0.05959$

$CoM(S) = \left[ \begin{array}{c} -0.02573 \\ +0.00001 \\ -0.00020 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00000549462 & +0.00000002242 & +0.00000006771 \\ +0.00000002242 & +0.00006224789 & -0.00000000559 \\ +0.00000006771 & -0.00000000559 & +0.00006323010 \end{array} \right]_R$

Left Elbow¶

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

$\text{Mass} = 0.05959$

$CoM(S) = \left[ \begin{array}{c} -0.02573 \\ -0.00001 \\ -0.00020 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00000549462 & -0.00000002242 & +0.00000006771 \\ -0.00000002242 & +0.00006224789 & +0.00000000559 \\ +0.00000006771 & +0.00000000559 & +0.00006323010 \end{array} \right]_R$

Right Motorized ForeArm¶

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

../../_images/hardware_rmotorizedforearmmass.png

$\text{Mass} = 0.03770$

$CoM(S) = \left[ \begin{array}{c} +0.01940 \\ -0.00304 \\ +0.00250 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00001271101 & +0.00000131460 & -0.00000143626 \\ +0.00000131460 & +0.00003056901 & +0.00000020686 \\ -0.00000143626 & +0.00000020686 & +0.00002976287 \end{array} \right]_R$

Left Motorized ForeArm¶

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

$\text{Mass} = 0.03770$

$CoM(S) = \left[ \begin{array}{c} +0.01940 \\ +0.00304 \\ +0.00250 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00001271101 & -0.00000131460 & -0.00000143626 \\ -0.00000131460 & +0.00003056901 & -0.00000020686 \\ -0.00000143626 & -0.00000020686 & +0.00002976287 \end{array} \right]_R$

Hands - not motorized¶

Right No Motorized ForeArm¶

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

../../_images/hardware_rnonmotorizedhandmass.png

$\text{Mass} = 0.11282$

$CoM(S) = \left[ \begin{array}{c} +0.06992 \\ -0.00096 \\ -0.00114 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00005395190 & -0.00000538205 & -0.00000356087 \\ -0.00000216370 & +0.00023077622 & +0.00000004722 \\ -0.00000546534 & +0.00000004722 & +0.00022789726 \end{array} \right]_R$

Left No Motorized ForeArm¶

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

$\text{Mass} = 0.11282$

$CoM(S) = \left[ \begin{array}{c} +0.06992 \\ +0.00096 \\ -0.00114 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00005395190 & +0.00000538205 & -0.00000356087 \\ +0.00000216370 & +0.00023077622 & -0.00000004722 \\ -0.00000546534 & -0.00000004722 & +0.00022789726 \end{array} \right]_R$

Legs¶

Right Pelvis¶

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

$\text{Mass} = 0.07244$

$CoM(S) = \left[ \begin{array}{c} -0.00717 \\ +0.01187\\ +0.02705 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00009064495 & +0.00000488819 & +0.00001221925 \\ +0.00000488819 & +0.00010665780 & -0.00002783820 \\ +0.00001221925 & -0.00002783820 & +0.00006742859 \end{array} \right]_R$

Left Pelvis¶

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

$\text{Mass} = 0.07244$

$CoM(S) = \left[ \begin{array}{c} -0.00717 \\ -0.01187\\ +0.02705 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00009064495 & -0.00000488819 & +0.00001221925 \\ -0.00000488819 & +0.00010665780 & +0.00002783820 \\ +0.00001221925 & +0.00002783820 & +0.00006742859 \end{array} \right]_R$

Right Hip¶

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

$\text{Mass} = 0.13530$

$CoM(S) = \left[ \begin{array}{c} -0.01649 \\ -0.00029 \\ -0.00475 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00002791309 & -0.00000004982 & -0.00000530968 \\ -0.00000004982 & +0.00010146905 & -0.00000000049 \\ -0.00000530968 & -0.00000000049 & +0.00009209358 \end{array} \right]_R$

Left Hip¶

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

$\text{Mass} = 0.13530$

$CoM(S) = \left[ \begin{array}{c} -0.01649 \\ +0.00029 \\ -0.00475 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00002791309 & +0.00000004982 & -0.00000530968 \\ +0.00000004982 & +0.00010146905 & +0.00000000049 \\ -0.00000530968 & +0.00000000049 & +0.00009209358 \end{array} \right]_R$

Right Thigh¶

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

$\text{Mass} = 0.39798$

$CoM(S) = \left[ \begin{array}{c} +0.00131 \\ -0.00201 \\ -0.05386 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00166558985 & -0.00000043251 & +0.00008250512 \\ -0.00000043251 & +0.00162499686 & -0.00003174281 \\ +0.00008250512 & -0.00003174281 & +0.00030492852 \end{array} \right]_{(o, R)}$

Left Thigh¶

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

$\text{Mass} = 0.39798$

$CoM(S) = \left[ \begin{array}{c} +0.00131 \\ +0.00201 \\ -0.05386 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00166558985 & +0.00000043251 & +0.00008250512 \\ +0.00000043251 & +0.00162499686 & +0.00003174281 \\ +0.00008250512 & +0.00003174281 & +0.00030492852 \end{array} \right]_{(o, R)}$

Right Tibia¶

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

$\text{Mass} = 0.29706$

$CoM(S) = \left[ \begin{array}{c} +0.00471 \\ -0.00210 \\ -0.04891 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00118033782 & -0.00000030542 & +0.00004017104 \\ -0.00000030542 & +0.00112927811 & -0.00003573639 \\ +0.00004017104 & -0.00003573639 & +0.00019349009 \end{array} \right]_{(o, R)}$

Left Tibia¶

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

$\text{Mass} = 0.29706$

$CoM(S) = \left[ \begin{array}{c} +0.00471 \\ +0.00210 \\ -0.04891 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00118033782 & +0.00000030542 & +0.00004017104 \\ +0.00000030542 & +0.00112927811 & +0.00003573639 \\ +0.00004017104 & +0.00003573639 & +0.00019349009 \end{array} \right]_{(o, R)}$

Right Ankle¶

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

$\text{Mass} = 0.13892$

$CoM(S) = \left[ \begin{array}{c} +0.00142 \\ -0.00028 \\ +0.00638 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00003882578 & +0.00000004942 & +0.00000221321 \\ +0.00000004942 & +0.00007211579 & -0.00000000674 \\ +0.00000221321 & -0.00000000674 & +0.00005351987 \end{array} \right]_{(o, R)}$

Left Ankle¶

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

$\text{Mass} = 0.13892$

$CoM(S) = \left[ \begin{array}{c} +0.00142 \\ +0.00028 \\ +0.00638 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00003882578 & -0.00000004942 & +0.00000221321 \\ -0.00000004942 & +0.00007211579 & +0.00000000674 \\ +0.00000221321 & +0.00000000674 & +0.00005351987 \end{array} \right]_{(o, R)}$

Right Foot¶

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

$\text{Mass} = 0.16304$

$CoM(S) = \left[ \begin{array}{c} +0.02489 \\ -0.00330 \\ -0.03208 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00026759800 & +0.00000592718 & +0.00013729918 \\ +0.00000592718 & +0.00064314836 & -0.00001869769 \\ +0.00013729918 & -0.00001869769 & +0.00052649738 \end{array} \right]_{(o, R)}$

Left Foot¶

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

$\text{Mass} = 0.16304$

$CoM(S) = \left[ \begin{array}{c} +0.02489 \\ +0.00330 \\ -0.03208 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00026759800 & -0.00000592718 & +0.00013729918 \\ -0.00000592718 & +0.00064314836 & +0.00001869769 \\ +0.00013729918 & +0.00001869769 & +0.00052649738 \end{array} \right]_{(o, R)}$

SoftBank Robotics documentation What's new in NAOqi 2.5?

H21 - Masses - V3.2¶

Legend¶

Whole robot¶

Torso¶

Head¶

Neck¶

Head¶

Arms¶

Right Shoulder¶

Left Shoulder¶

Right Bicep¶

Left Bicep¶

Right Elbow¶

Left Elbow¶

Right Motorized ForeArm¶

Left Motorized ForeArm¶

Hands - not motorized¶

Right No Motorized ForeArm¶

Left No Motorized ForeArm¶

Legs¶

Right Pelvis¶

Left Pelvis¶

Right Hip¶

Left Hip¶

Right Thigh¶

Left Thigh¶

Right Tibia¶

Left Tibia¶

Right Ankle¶

Left Ankle¶

Right Foot¶

Left Foot¶

On this page

SoftBank Robotics documentation What's new in NAOqi 2.5?

Quick search

H21 - Masses - V3.2¶

Legend¶

Whole robot¶

Torso¶

Head¶

Neck¶

Head¶

Arms¶

Right Shoulder¶

Left Shoulder¶

Right Bicep¶

Left Bicep¶

Right Elbow¶

Left Elbow¶

Right Motorized ForeArm¶

Left Motorized ForeArm¶

Hands - not motorized¶

Right No Motorized ForeArm¶

Left No Motorized ForeArm¶

Legs¶

Right Pelvis¶

Left Pelvis¶

Right Hip¶

Left Hip¶

Right Thigh¶

Left Thigh¶

Right Tibia¶

Left Tibia¶

Right Ankle¶

Left Ankle¶

Right Foot¶

Left Foot¶