SoftBank Robotics documentation What's new in NAOqi 2.8?

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.

../../_images/romeo_hardware_mass_trunkyaw.png

\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

Left Arm

LShoulderPitch

../../_images/romeo_hardware_mass_lshoulderpitch.png

\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

../../_images/romeo_hardware_mass_lshoulderyaw.png

\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

../../_images/romeo_hardware_mass_lelbowyaw.png

\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

../../_images/romeo_hardware_mass_lwristpitch.png

\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

../../_images/romeo_hardware_mass_rshoulderpitch.png

\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

../../_images/romeo_hardware_mass_rshoulderyaw.png

\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

../../_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

RElbowYaw

../../_images/romeo_hardware_mass_relbowyaw.png

\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

../../_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

RWristYaw

../../_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

RWristPitch

../../_images/romeo_hardware_mass_lwristpitch.png

\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

../../_images/romeo_hardware_mass_lhipyaw.png

\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

../../_images/romeo_hardware_mass_lhiproll.png

\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

../../_images/romeo_hardware_mass_lhippitch.png

\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

../../_images/romeo_hardware_mass_lkneepitch.png

\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

../../_images/romeo_hardware_mass_lanklepitch.png

\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

../../_images/romeo_hardware_mass_lankleroll.png

\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

../../_images/romeo_hardware_mass_ltoepitch.png

\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

It is the combination of LAnkleRoll and LToePitch.

\text{Mass} = 0.93114

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.058348\\
                  0.0012683\\
                  -0.04418
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          0.002692297101 & 5.4759551858e-05 & 0.0022321233992\\
                          5.4759551858e-05 & 0.009621700272 & -2.5281060516e-05\\
                          0.0022321233992 & -2.5281060516e-05 & 0.007901834324\\
                        \end{array}
                        \right]_R

Right Leg

RHipYaw

../../_images/romeo_hardware_mass_lhipyaw.png

\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

../../_images/romeo_hardware_mass_lhiproll.png

\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

../../_images/romeo_hardware_mass_lhippitch.png

\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

../../_images/romeo_hardware_mass_lkneepitch.png

\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

../../_images/romeo_hardware_mass_lanklepitch.png

\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

../../_images/romeo_hardware_mass_lankleroll.png

\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

../../_images/romeo_hardware_mass_ltoepitch.png

\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

RAnkleRollBasic

It is the combination of RAnkleRoll and RToePitch.

\text{Mass} = 0.93114f

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.058348\\
                  -0.0012683\\
                  -0.04418
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          0.002692297101 & -5.4759551858e-05 & 0.0022321233992\\
                          -5.4759551858e-05 & 0.009621700272 & 2.5281060516e-05\\
                          0.0022321233992 & 2.5281060516e-05 & 0.007901834324\\
                        \end{array}
                        \right]_R