Pelvis 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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Pelvis

Body Properties:

m = 10.33 kg

    | 94158 |   169 |  15026 |                   
J = |   169 | 84066 |    516 | kg.mm^2
    | 15026 |   516 | 112770 |

COM = [ 50.7 | 0 | 28.4 ] mm

Pelvis COM --> Abduction Gimbal origin

     |  0 | 0 | 1 |  21 |                   
H1 = |  0 | 1 | 0 | 135 |
     | -1 | 0 | 0 |   0 |                  
     |  0 | 0 | 0 |   1 |

Connects to --> Yaw Gimbal

     | 0 | 0 | -1 |   0 |                   
H2 = | 0 | 1 |  0 |   0 |
     | 1 | 0 |  0 | -70 |                  
     | 0 | 0 |  0 |   1 |

R1 driven by Abduction Motor.