Yaw 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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Yaw

Body Properties:

m = 1.82 kg

    | 2722 |  0.7 |  1.5 |                   
J = |  0.7 | 5586 |  2.6 | kg.mm^2
    |  1.5 |  2.6 | 4638 |

COM = [ 25.7 | 0.1 | 17.9 ] mm

Connects to --> Hip

     |  0 | 1 |  0 |   0 |                   
H1 = |  0 | 0 | -1 |   0 |
     | -1 | 0 |  0 | -90 |                  
     |  0 | 0 |  0 |   1 |

R1 driven by Yaw Motor.