Achilles 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 ---

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Achilles Rod

Body Properties:

m = 0.157 kg

    | 4 |     0 |     0 |                   
J = | 0 | 14061 |     0 | kg.mm^2
    | 0 |     0 | 14061 |

COM = [ 247.2 | 0 | 0 ] mm
Eye-to-eye length = 501.2 mm

Connects the thigh to the heel spring.
Both ends are spherical joints.