Mass information¶

Introduction¶

This page details the mass, center of mass and inertial matrix of each solid (S) on the right side of ROMEO.

The center of mass position and the inertial matrix are described relative to the local coordinate system of the current solid (S) (o, R).

All solids (S) and local coordinate system are descrribed relative to the zero posture: standing with straight legs and arms pointing forwards).

$\text{Mass (kg)}$

$\text{CoM(S)} = \left[\begin{array}{c} X_G \\ Y_G \\ Z_G \end{array} \right]_{(o, R)} \text{(m)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} I_{xx} & I_{xy} & I_{xz} \\ I_{yx} & I_{yy} & I_{yz} \\ I_{zx} & I_{zy} & I_{zz} \end{array}\right]_R (\text{kg}*\text{m}^2)$

Trunk¶

$\text{Mass} = 9.9216$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00230 \\ +0.00038 \\ -0.04854 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.12933235299 & -0.00035965149 & +0.00283888003 \\ -0.00035965149 & +0.12683108985 & -0.00200842624 \\ +0.00283888003 & -0.00200842624 & +0.11062739082 \\ \end{array}\right]_R$

TrunkYaw¶

$\text{Mass} = 4.16277$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00932 \\ +0.00050 \\ -0.21190 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.24187936706 & -0.00006889635 & +0.00282915469 \\ -0.00006889635 & +0.23816771319 & +0.00030625215 \\ +0.00282915469 & +0.00030625215 & +0.02147385599 \\ \end{array}\right]_R$

Head¶

NeckYaw¶

$\text{Mass} = 0.51016$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00000 \\ -0.00183 \\ -0.03074 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00122158912 & -0.00000008014 & +0.00000001145 \\ -0.00000008014 & +0.00124607826 & -0.00000184095 \\ +0.00000001145 & -0.00000184095 & +0.00018796505 \end{array}\right]_R$

NeckPitch¶

$\text{Mass} = 0.23875$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00472 \\ -0.00054 \\ +0.04432 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00086602250 & -0.00000157263 & +0.00006138255 \\ -0.00000157263 & +0.00081828666 & +0.00000969515 \\ +0.00006138255 & +0.00000969515 & +0.00023891895 \end{array}\right]_R$

HeadPitch¶

$\text{Mass} = 0.13981$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00137 \\ +0.00027 \\ -0.00641 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00003896010 & -0.00000003814 & -0.00000229622 \\ -0.00000003814 & +0.00007254653 & -0.00000000646 \\ -0.00000229622 & -0.00000000646 & +0.00005376501 \end{array}\right]_R$

HeadRoll¶

$\text{Mass} = 1.41282$

$\text{CoM(S)} = \left[\begin{array}{c} +0.01617 \\ +0.00168 \\ +0.07570 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.01490874108 & -0.00005142093 & -0.00068489344 \\ -0.00005142093 & +0.01731891079 & -0.00019152738 \\ -0.00068489344 & -0.00019152738 & +0.00735474589 \end{array}\right]_R$

Left Arm¶

LShoulderPitch¶

$\text{Mass} = 0.69402$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00149 \\ -0.03299 \\ +0.00018 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00201004114 & +0.00000237595 & -0.00000216793 \\ +0.00000237595 & +0.00057062588 & +0.00000827832 \\ -0.00000216793 & +0.00000827832 & +0.00194067879 \end{array}\right]_R$

LShoulderYaw¶

$\text{Mass} = 0.57151$

$\text{CoM(S)} = \left[\begin{array}{c} +0.09367 \\ +0.01373 \\ +0.00103 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00074281758 & -0.00061767526 & -0.00007284380 \\ -0.00061767526 & +0.00650202304 & -0.00001251569 \\ -0.00007284380 & -0.00001251569 & +0.00664433886 \end{array}\right]_R$

LElbowRoll¶

_images/romeo_hardware_mass_elbowroll1.png

$\text{Mass} = 0.39848$

$\text{CoM(S)} = \left[\begin{array}{c} -0.02231 \\ -0.00240 \\ +0.00000 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00017900324 & -0.00000225555 & +0.00000001376 \\ -0.00000225555 & +0.00080432225 & +0.00000008007 \\ +0.00000001376 & +0.00000008007 & +0.00077956048 \\ \end{array}\right]_R$

LElbowYaw¶

$\text{Mass} = 0.31265$

$\text{CoM(S)} = \left[\begin{array}{c} +0.06738 \\ +0.01043 \\ -0.00031 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00037509574 & -0.00022528338 & +0.00000258073 \\ -0.00022528338 & +0.00209727597 & +0.00000274613 \\ +0.00000258073 & +0.00000274613 & +0.00211064798 \end{array}\right]_R$

LWristRoll¶

_images/romeo_hardware_mass_wristroll1.png

$\text{Mass} = 0.17563$

$\text{CoM(S)} = \left[\begin{array}{c} -0.05930 \\ -0.00005 \\ -0.00069 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00006721454 & -0.00000063730 & -0.00001358095 \\ -0.00000063730 & +0.00085119568 & -0.00000002443 \\ -0.00001358095 & -0.00000002443 & +0.00084034753 \end{array}\right]_R$

LWristYaw¶

_images/romeo_hardware_mass_wristyaw1.png

$\text{Mass} = 0.07595$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00746 \\ -0.00016 \\ -0.00022 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00001454017 & -0.00000004157 & +0.00000007674 \\ -0.00000004157 & +0.00003919069 & +0.00000000308 \\ +0.00000007674 & +0.00000000308 & +0.00003817871 \end{array}\right]_R$

LWristPitch¶

$\text{Mass} = 0.16569$

$\text{CoM(S)} = \left[\begin{array}{c} +0.06987 \\ -0.00381 \\ -0.00165 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00011252888 & +0.00004725831 & +0.00001704036 \\ +0.00004725831 & +0.00107981778 & -0.00001547610 \\ +0.00001704036 & -0.00001547610 & +0.00115367043 \end{array}\right]_R$

Right Arm¶

RShoulderPitch¶

$\text{Mass} = 0.69402$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00149 \\ +0.03299 \\ -0.00018 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00201004114 & -0.00000237595 & +0.00000216793 \\ -0.00000237595 & +0.00057062588 & +0.00000827832 \\ +0.00000216793 & +0.00000827832 & +0.00194067879 \end{array}\right]_R$

RShoulderYaw¶

$\text{Mass} = 0.57071$

$\text{CoM(S)} = \left[\begin{array}{c} +0.09370 \\ -0.01373 \\ -0.00069 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00074235595 & +0.00061720176 & +0.000005985213 \\ +0.00061720176 & +0.00649988502 & -0.000001074174 \\ +0.00005985213 & -0.00001074174 & +0.000664209089 \end{array}\right]_R$

RElbowRoll¶

$\text{Mass} = 0.39848$

$\text{CoM(S)} = \left[\begin{array}{c} -0.02231 \\ -0.00240 \\ +0.00000 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00017900324 & -0.00000225555 & +0.00000001376 \\ -0.00000225555 & +0.00080432225 & +0.00000008007 \\ +0.00000001376 & +0.00000008007 & +0.00077956048 \end{array}\right]_R$

RElbowYaw¶

$\text{Mass} = 0.31403$

$\text{CoM(S)} = \left[\begin{array}{c} +0.06753 \\ -0.00889 \\ +0.00022 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00036672778 & +0.00018563123 & -0.000000537905 \\ +0.00018563123 & +0.00211103842 & +0.000000319320 \\ -0.00000537905 & +0.00000319320 & +0.000211493035 \end{array}\right]_R$

RWristRoll¶

$\text{Mass} = 0.17563$

$\text{CoM(S)} = \left[\begin{array}{c} -0.05930 \\ -0.00005 \\ -0.00069 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00006721454 & -0.00000063730 & -0.00001358095 \\ -0.00000063730 & +0.00085119568 & -0.00000002443 \\ -0.00001358095 & -0.00000002443 & +0.00084034753 \end{array}\right]_R$

RWristYaw¶

$\text{Mass} = 0.07595$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00746 \\ -0.00016 \\ -0.00022 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00001454017 & -0.00000004157 & +0.00000007674 \\ -0.00000004157 & +0.00003919069 & +0.00000000308 \\ +0.00000007674 & +0.00000000308 & +0.00003817871 \end{array}\right]_R$

RWristPitch¶

$\text{Mass} = 0.16569$

$\text{CoM(S)} = \left[\begin{array}{c} +0.06987 \\ +0.00381 \\ -0.00165 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00011252888 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.00107981778 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.00115367043 \end{array}\right]_R$

Left Leg¶

LHipYaw¶

$\text{Mass} = 0.49477$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00871 \\ -0.00022 \\ +0.06319 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00303667904 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.00347997780 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.00062277265 \end{array}\right]_R$

LHipRoll¶

$\text{Mass} = 0.66070$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00293 \\ -0.00027 \\ +0.00011 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00089862024 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.00050955901 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.00093539188 \end{array}\right]_R$

LHipPitch¶

$\text{Mass} = 4.33935$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00971 \\ +0.00135 \\ -0.15083 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.13289504951 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.13397739558 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.01216872585 \end{array}\right]_R$

LKneePitch¶

$\text{Mass} = 2.61063$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00532 \\ -0.00075 \\ -0.12258 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.05491303061 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.05496634755 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.00398481696 \end{array}\right]_R$

LAnklePitch¶

$\text{Mass} = 0.50080$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00059 \\ +0.00051 \\ +0.00038 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00042995195 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.00028145145 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.00052766479 \end{array}\right]_R$

LAnkleRoll¶

$\text{Mass} = 0.64224$

$\text{CoM(S)} = \left[\begin{array}{c} +0.02618 \\ +0.00259 \\ -0.03683 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00139908277 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.00349259103 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.00266359477 \end{array}\right]_R$

LToePitch¶

$\text{Mass} = 0.28890$

$\text{CoM(S)} = \left[\begin{array}{c} +0.01636 \\ -0.00167 \\ -0.00812 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00025411726 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.00029543601 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.00044366380 \end{array}\right]_R$

LAnkleRollBasic¶

$\text{Mass} = 1.07155$

$\text{CoM(S)} = \left[\begin{array}{c} +0.07856 \\ -0.00603 \\ -0.04513 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00350695791 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.01621291202 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.01473534683 \end{array}\right]_R$

Right Leg¶

RHipYaw¶

$\text{Mass} = 0.49477$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00871 \\ +0.00022 \\ +0.06319 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00303667904 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.00347997780 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.00062277265 \end{array}\right]_R$

RHipRoll¶

$\text{Mass} = 0.66070$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00293 \\ -0.00027 \\ +0.00011 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00089862024 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.00050955901 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.00093539188 \end{array}\right]_R$

RHipPitch¶

$\text{Mass} = 4.33935$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00971 \\ -0.00135 \\ -0.15083 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.13289504951 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.13397739558 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.01216872585 \end{array}\right]_R$

RKneePitch¶

$\text{Mass} = 2.61063$

$\text{CoM(S)} = \left[\begin{array}{c} -0.00532 \\ +0.00075 \\ -0.12258 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.05491303061 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.05496634755 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.00398481696 \end{array}\right]_R$

RAnklePitch¶

$\text{Mass} = 0.50080$

$\text{CoM(S)} = \left[\begin{array}{c} +0.00059 \\ -0.00051 \\ +0.00038 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00042995195 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.00028145145 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.00052766479 \end{array}\right]_R$

RAnkleRoll¶

$\text{Mass} = 0.64224$

$\text{CoM(S)} = \left[\begin{array}{c} +0.02618 \\ -0.00259 \\ -0.03683 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00139908277 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.00349259103 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.00266359477 \end{array}\right]_R$

RToePitch¶

$\text{Mass} = 0.28890$

$\text{CoM(S)} = \left[\begin{array}{c} +0.01636 \\ +0.00167 \\ -0.00812 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00025411726 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.00029543601 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.00044366380 \end{array}\right]_R$

RFoot (first prototype)¶

It is composed of RAnkleRoll and RToePitch joints.

$\text{Mass} = 1.07155$

$\text{CoM(S)} = \left[\begin{array}{c} +0.07856 \\ +0.00603 \\ -0.04513 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} +0.00350695791 & +0.00000000000 & +0.00000000000 \\ +0.00000000000 & +0.01621291202 & +0.00000000000 \\ +0.00000000000 & +0.00000000000 & +0.01473534683 \end{array}\right]_R$

Romeo 1.0 documentation

Mass information¶

Introduction¶

Trunk¶

Trunk¶

TrunkYaw¶

Head¶

NeckYaw¶

NeckPitch¶

HeadPitch¶

HeadRoll¶

Left Arm¶

LShoulderPitch¶

LShoulderYaw¶

LElbowRoll¶

LElbowYaw¶

LWristRoll¶

LWristYaw¶

LWristPitch¶

Right Arm¶

RShoulderPitch¶

RShoulderYaw¶

RElbowRoll¶

RElbowYaw¶

RWristRoll¶

RWristYaw¶

RWristPitch¶

Left Leg¶

LHipYaw¶

LHipRoll¶

LHipPitch¶

LKneePitch¶

LAnklePitch¶

LAnkleRoll¶

LToePitch¶

LAnkleRollBasic¶

Right Leg¶

RHipYaw¶

RHipRoll¶

RHipPitch¶

RKneePitch¶

RAnklePitch¶

RAnkleRoll¶

RToePitch¶

RFoot (first prototype)¶

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