Knee Spring Model

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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Knee Spring

Body Properties:

m = 0.186 kg

    | 54.3 | 46.0 |    0 |                   
J = | 46.0 | 1712 |    0 | kg.mm^2
    |    0 |    0 | 1669 |

COM = [ 83.6 | 3.4 | 0 ] mm
k = 2300 N-m/rad

Connects to --> Knee

L1 = [ 132 | -5 | 0 ] mm