Hip and Knee Motors

Cassie Kinematic Model

Rigid Bodies on Cassie

--- Pelvis --- Yaw --- Hip --- Thigh --- Knee --- Shin --- Tarsus --- Toe ---
--- Knee Spring --- Heel Spring --- Toe Output Crank --- Plantar Rod --- Achilles Rod ---

Motors in Cassie

--- Abduction/Yaw Motors --- Hip/Knee Motors --- Toe Motor ---

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Hip/Knee Motor Specs

ROM (Hip) = -50 to 80 deg
ROM (Knee) = -156 to -42 deg
Gear ratio = 16:1 speed reduction
Max motor torque = 12.2 N-m
Max motor speed = 1300 rpm
Motor shaft inertia = 365 kg.mm^2

Locations

Hip Motor connects Hip to Thigh
Knee Motor connects Thigh to Knee