H21 - Masses

See also

V 4.0 | V 3.3 | V 3.2

NAO H21 | Masses


Legend

This page details, for each solid (S) of a robot, the Mass, Center of Mass and Inertial matrix.

\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)

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 described relative to the zero posture: standing with straight legs and arms pointing forwards.

../../_images/hardware_inertialunit.png

Whole robot

\text{Mass} = 5.029339

Torso

(o, R) is located on: Torso.

../../_images/hardware_thoraxmass_3.3.png

\text{Mass} = 1.04956

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.00413 \\
                  0.00009 \\
                  0.04342
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00506234058 & +0.00001431158 & +0.00015519082 \\
                          +0.00001431158 & +0.00488013591 & -0.00002707934 \\
                          +0.00015519082 & -0.00002707934 & +0.00161030006 \\
                        \end{array}
                        \right]_R

Arms

Shoulders

Left

(o, R) is located on the joint: LShoulderPitch.

\text{Mass} = 0.07504

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.00165 \\
                  -0.02663 \\
                  0.00014
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00008428430 & -0.00000202802 & +0.00000002338 \\
                          -0.00000202802 & +0.00001415561 & -0.00000001972 \\
                          +0.00000002338 & -0.00000001972 & +0.00008641949 \\
                        \end{array}
                        \right]_R

Biceps

Right

(o, R) is located on the joint: RShoulderRoll.

../../_images/hardware_rbicepmass_3.3.png

\text{Mass} = 0.15794

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.02429 \\
                  -0.00952 \\
                  0.00320
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00011012031 & +0.00007669131 & -0.00002604607 \\
                          +0.00007669131 & +0.00036757653 & +0.00001209828 \\
                          -0.00002604607 & +0.00001209828 & +0.00035461772 \\
                        \end{array}
                        \right]_R

Left

(o, R) is located on the joint: LShoulderRoll.

\text{Mass} = 0.15777

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.02455 \\
                  0.00563 \\
                  0.00330
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00009389993 & -0.00004714452 & -0.00002699471 \\
                          -0.00004714452 & +0.00037151879 & -0.00000245977 \\
                          -0.00002699471 & -0.00000245977 & +0.00034190083 \\
                        \end{array}
                        \right]_R

Elbows

Right

(o, R) is located on the joint: RElbowYaw.

../../_images/hardware_relbowmass_3.3.png

\text{Mass} = 0.06483

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.02744 \\
                  0.00000 \\
                  -0.00014
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00000559715 & +0.00000000421 & +0.00000004319 \\
                          +0.00000000421 & +0.00007543312 & -0.00000000184 \\
                          +0.00000004319 & -0.00000000184 & +0.00007644339 \\
                        \end{array}
                        \right]_R

Left

(o, R) is located on the joint: LElbowYaw.

\text{Mass} = 0.06483

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.02744 \\
                  0.00000 \\
                  -0.00014
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00000559715 & +0.00000000421 & +0.00000004319 \\
                          +0.00000000421 & +0.00007543312 & -0.00000000184 \\
                          +0.00000004319 & -0.00000000184 & +0.00007644339 \\
                        \end{array}
                        \right]_R

Motorized ForeArms

Right

(o, R) is located on the joint: RElbowRoll.

../../_images/hardware_rmotorizedforearmmass_3.3.png

\text{Mass} = 0.07778

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.02552 \\
                  -0.00281 \\
                  0.00090
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00002539070 & +0.00000233243 & -0.00000060117 \\
                          +0.00000233243 & +0.00008922036 & +0.00000002694 \\
                          -0.00000060117 & +0.00000002694 & +0.00008724843 \\
                        \end{array}
                        \right]_R

Left

(o, R) is located on the joint: LElbowRoll.

\text{Mass} = 0.07761

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.02556 \\
                  0.00281 \\
                  0.00076
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00002533220 & -0.00000234271 & +0.00000007459 \\
                          -0.00000234271 & +0.00008913220 & -0.00000002655 \\
                          +0.00000007459 & -0.00000002655 & +0.00008728726 \\
                        \end{array}
                        \right]_R

Hands - not motorized

Right Not Motorized Hand

(o, R) is located on the joint: RElbowRoll.

../../_images/hardware_rnonmotorizedhandmass_3.3.png

\text{Mass} = 0.18405

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.06530 \\
                  0.00114 \\
                  0.00051
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00007810423 & -0.00001233383 & +0.00000744169 \\
                          -0.00001233383 & +0.00112084378 & -0.00000054551 \\
                          +0.00000744169 & -0.00000054551 & +0.00112214306 \\
                        \end{array}
                        \right]_R

Left Not Motorized Hand

(o, R) is located on the joint: LElbowRoll.

\text{Mass} = 0.18405

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.06530 \\
                  0.00114 \\
                  0.00051
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00007810423 & -0.00001233383 & +0.00000744169 \\
                          -0.00001233383 & +0.00112084378 & -0.00000054551 \\
                          +0.00000744169 & -0.00000054551 & +0.00112214306 \\
                        \end{array}
                        \right]_R

Legs

Pelvis

Right

(o, R) is located on the joint: RHipYawPitch.

../../_images/hardware_rpelvismass_3.3.png

\text{Mass} = 0.07118

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.00766 \\
                  0.01200 \\
                  0.02716
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00008997195 & +0.00000500219 & +0.00001273525 \\
                          +0.00000500219 & +0.00010552611 & -0.00002770080 \\
                          +0.00001273525 & -0.00002770080 & +0.00006688724 \\
                        \end{array}
                        \right]_R

Left

(o, R) is located on the joint: LHipYawPitch.

\text{Mass} = 0.06981

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.00781 \\
                  -0.01114 \\
                  0.02661
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00008150233 & -0.00000499449 & +0.00001274817 \\
                          -0.00000499449 & +0.00010132555 & +0.00002345474 \\
                          +0.00001274817 & +0.00002345474 & +0.00006262363 \\
                        \end{array}
                        \right]_R

Hips

Right

(o, R) is located on the joint: RHipRoll.

../../_images/hardware_rhipmass_3.3.png

\text{Mass} = 0.13053

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.01549 \\
                  -0.00029 \\
                  -0.00516
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00002758654 & -0.00000001919 & -0.00000410822 \\
                          -0.00000001919 & +0.00009826996 & +0.00000000251 \\
                          -0.00000410822 & +0.00000000251 & +0.00008810332 \\
                        \end{array}
                        \right]_R

Left

(o, R) is located on the joint: LHipRoll.

\text{Mass} = 0.13053

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.01549 \\
                  0.00029 \\
                  -0.00515
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00002758354 & -0.00000002233 & -0.00000408164 \\
                          -0.00000002233 & +0.00009827055 & -0.00000000419 \\
                          -0.00000408164 & -0.00000000419 & +0.00008809973 \\
                        \end{array}
                        \right]_R

Thighs

Right

(o, R) is located on the joint: RHipPitch.

../../_images/hardware_rthighmass_3.3.png

\text{Mass} = 0.38976

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.00139 \\
                  -0.00225 \\
                  -0.05374
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00163748205 & -0.00000083954 & +0.00008588301 \\
                          -0.00000083954 & +0.00159221403 & -0.00003917626 \\
                          +0.00008588301 & -0.00003917626 & +0.00030397824 \\
                        \end{array}
                        \right]_R

Left

(o, R) is located on the joint: LHipPitch.

\text{Mass} = 0.38968

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.00138 \\
                  0.00221 \\
                  -0.05373
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00163671962 & +0.00000092451 & +0.00008530668 \\
                          +0.00000092451 & +0.00159107278 & +0.00003836160 \\
                          +0.00008530668 & +0.00003836160 & +0.00030374342 \\
                        \end{array}
                        \right]_R

Tibia

Right

(o, R) is located on the joint: RKneePitch.

../../_images/hardware_rtibiamass_3.3.png

\text{Mass} = 0.29163

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.00394 \\
                  -0.00221 \\
                  -0.04938
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00118282956 & -0.00000089650 & +0.00002799690 \\
                          -0.00000089650 & +0.00112827851 & -0.00003847604 \\
                          +0.00002799690 & -0.00003847604 & +0.00019145277 \\
                        \end{array}
                        \right]_R

Left

(o, R) is located on the joint: LKneePitch.

\text{Mass} = 0.29142

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.00453 \\
                  0.00225 \\
                  -0.04936
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00118207967 & +0.00000063362 & +0.00003649697 \\
                          +0.00000063362 & +0.00112865226 & +0.00003949523 \\
                          +0.00003649697 & +0.00003949523 & +0.00019322744 \\
                        \end{array}
                        \right]_R

Ankle

Right

(o, R) is located on the joint: RAnklePitch.

../../_images/hardware_ranklemass_3.3.png

\text{Mass} = 0.13415

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.00045 \\
                  -0.00030 \\
                  0.00684
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00003850813 & +0.00000006434 & +0.00000387466 \\
                          +0.00000006434 & +0.00007431082 & -0.00000000458 \\
                          +0.00000387466 & -0.00000000458 & +0.00005491312 \\
                        \end{array}
                        \right]_R

Left

(o, R) is located on the joint: LAnklePitch.

\text{Mass} = 0.13416

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.00045 \\
                  0.00029 \\
                  0.00685
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00003850978 & -0.00000002634 & +0.00000386194 \\
                          -0.00000002634 & +0.00007426526 & +0.00000001834 \\
                          +0.00000386194 & +0.00000001834 & +0.00005486540 \\
                        \end{array}
                        \right]_R

Feet

Right

(o, R) is located on the joint: RAnkleRoll.

../../_images/hardware_rfootmass_3.3.png

\text{Mass} = 0.16171

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.02540 \\
                  -0.00332 \\
                  -0.03239
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00026930201 & +0.00000587505 & +0.00013913328 \\
                          +0.00000587505 & +0.00064347385 & -0.00001884917 \\
                          +0.00013913328 & -0.00001884917 & +0.00052503477 \\
                        \end{array}
                        \right]_R

Left

(o, R) is located on the joint: LAnkleRoll.

\text{Mass} = 0.16184

\text{CoM(S)} = \left[
                \begin{array}{c}
                  0.02542 \\
                  0.00330 \\
                  -0.03239
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00026944182 & -0.00000569572 & +0.00013937948 \\
                          -0.00000569572 & +0.00064434250 & +0.00001874092 \\
                          +0.00013937948 & +0.00001874092 & +0.00052575675 \\
                        \end{array}
                        \right]_R