Toe Output Crank 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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Toe Output Crank

Body Properties:

m = 0.129 kg

    | 30.7 |    0 |  2.6 |                   
J = |    0 | 57.1 |    0 | kg.mm^2
    |  2.6 |    0 | 66.4 |

COM = [ 4.8 | 0 | -2.9 ] mm

Connects to --> Plantar Rod

Spherical Joint
P1 = [ 55 | 0 | -7.91 ] mm