Thigh 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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Thigh

Body Properties:

m = 5.52 kg

    |  17969 |   284 | -11685 |                   
J = |    284 | 56284 |    -19 | kg.mm^2
    | -11685 |   -19 |  49756 |

COM = [ 59.5 | 0.1 | -35.8 ] mm

Connects to --> Knee

     | 1 | 0 | 0 | 120 |                   
H1 = | 0 | 1 | 0 |   0 |
     | 0 | 0 | 1 | 4.5 |                  
     | 0 | 0 | 0 |   1 |

Connects to --> Achilles Rod End

Spherical Joint
P1 = [ 0 | 0 | 45 ] mm

R1 driven by Knee Motor.