Hip 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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Hip

Body Properties:

m = 1.17 kg

    |  842 |  0.2 | -0.6 |                   
J = |  0.2 | 6076 |    0 | kg.mm^2
    | -0.6 |    0 | 6436 |

COM = [ -55.7 | 0 | 0 ] mm

Connects to --> Thigh

     | 1 | 0 | 0 | 0 |                   
H1 = | 0 | 1 | 0 | 0 |
     | 0 | 0 | 1 | 0 |                  
     | 0 | 0 | 0 | 1 |

R1 driven by Hip Motor.