This repository was archived by the owner on Feb 17, 2023. It is now read-only.
Kinematic Model
Robot-forward along the X axis (red). Robot-up along the Z axis (blue). Robot-left along the Y axis (green).
All joints rotate around their local Z axis and obey the right-hand rule for positive rotations.
Toe and Toe Crank are parallel to eachother.
Thigh and tarsus remain 13 degrees from parallel for undeflected springs.
Neutral pose aligns all leg coordinate frames, straightening the leg.
The following pages detail the left leg's links. The right leg has identical orientations, and negates all offsets in the global Y dimension.
- Introduction
- Limitation of Liability
- Warning Symbols in this Manual
- General Precautions
- Mechanical Precautions
- Maintenance Precautions
- Research and Development Precautions
- Battery Safety
- Mechanical Overview
- Electrical Overview