Shin 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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Shin

Body Properties:

m = 0.577 kg

    | 360 |   334 |     0 |                   
J = | 334 | 34132 |     0 | kg.mm^2
    |   0 |     0 | 34111 |

COM = [ 183.4 | 1.2 | 0.2 ] mm

Connects to --> Tarsus

     | 1 | 0 | 0 | 434.76 |                   
H1 = | 0 | 1 | 0 |     20 |
     | 0 | 0 | 1 |      0 |                  
     | 0 | 0 | 0 |      1 |

Connects to --> Plantar Rod

Offset = [ 132 | -12 | 0 ] mm
Spring link length = 42 mm