Plantar Rod 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 ---

---

Plantar Rod

Body Properties:

m = 0.119 kg

    |  2.8 |    0 |    0 |                   
J = |    0 | 5530 |    0 | kg.mm^2
    |    0 |    0 | 5530 |

COM = [ 177.9 | 0 | 0 ] mm
Eye-to-eye length = 350.12 mm

Connects the toe output crank to the toe.
Both ends are spherical joints.