Heel Spring 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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Heel Spring

Body Properties:

m = 0.126 kg

    | 30.2 | 15.3 |  0.6 |                   
J = | 15.3 | 1049 | -0.1 | kg.mm^2
    |  0.6 | -0.1 | 1028 |

COM = [ 81 | 2.2 | 0 ] mm
k = 2000 N-m/rad

Connects to --> Achilles Rod

Spherical Joint
P1 = [ 118.77 | -10 | 0 ] mm