Toe 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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Toe

Body Properties:

m = 0.150 kg

    |   287 | -98.6 | -1.5 |                   
J = | -98.6 |   171 |  0.2 | kg.mm^2
    |  -1.5 |   0.2 |  449 |

COM = [ 4.7 | 27.5 | -0.1 ] mm

Origin --> Midfoot

H1 Euler Angles = [ 0 | -140 | -90 ] deg, ZYX
H1 Offset = [17.62 | 52.19 | 0 ] mm
End-to-end Toe Length = 180 mm

Connects to --> Plantar Rod

Spherical Joint
P1 = [ 55 | 0 | 7.76 ] mm

Kinematically constrained to remain parallel to toe output crank