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ATRIAS 2.1 Handbook/Technical Specifications/Solid Model Specifications/Leg Sub-assembly Mass and Inertia's
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Leg SubAssembly Mass and Inertias
frameless|none|upright=3|Overview of the different inertial assemblies that make up the ATRIAS 2.1 leg
Link: Exploding view animation of the ATRIAS 2.1 Leg
Mass of one leg = 19.8 kg
Sub-assemblies
Drive Assembly
Shin Bone
Thigh Bone
Motor Outputs for Shin and Thigh
Four-Bar Link
Lower Leg