Knee 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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Knee

Body Properties:

m = 0.758 kg

    | 2159 |  956 |  2.8 |                   
J = |  956 | 1438 |  0.7 | kg.mm^2
    |  2.8 |  0.7 | 3344 |

COM = [ 23.0 | 32.1 | -2.2 ] mm

Connects to --> Shin

     | 1 | 0 | 0 | 60.68 |                   
H1 = | 0 | 1 | 0 | 47.41 |
     | 0 | 0 | 1 |     0 |                  
     | 0 | 0 | 0 |     1 |

Connects to --> Knee Spring Base

     | 1 | 0 | 0 | 60.68 |                   
H2 = | 0 | 1 | 0 | 82.41 |
     | 0 | 0 | 1 |     0 |                  
     | 0 | 0 | 0 |     1 |