ATRIAS 2.1 Handbook/Technical Specifications/Solid Model Specifications/Leg Sub-assembly Mass and Inertia's/Shin Bone

Shin Bone thumb|description of inertial values and mass of this particular robot component of the ATRIAS 2.1 robot built at Oregon State University|upright=2.8 Mass = 0.7477 kilograms Center of mass: ( meters ) X = 0.0071 Y = 0.0310 Z = 0.1460 Principal axes of inertia and principal moments of inertia: ( kilograms * square meters ) Taken at the center of mass. Ix = (-0.0311, 0.0530, 0.9981) Px = 0.0026 Iy = (-0.0411, -0.9978, 0.0517) Py = 0.0165 Iz = (0.9987, -0.0395, 0.0332) Pz = 0.0182 Moments of inertia: ( kilograms * square meters ) Taken at the center of mass and aligned with the output coordinate system. Lxx = 0.0182 Lxy = 0.0000 Lxz = -0.0005 Lyx = 0.0000 Lyy = 0.0165 Lyz = 0.0007 Lzx = -0.0005 Lzy = 0.0007 Lzz = 0.0027 Moments of inertia: ( kilograms * square meters ) Taken at the output coordinate system. Ixx = 0.0348 Ixy = 0.0002 Ixz = 0.0003 Iyx = 0.0002 Iyy = 0.0325 Iyz = 0.0041 Izx = 0.0003 Izy = 0.0041 Izz = 0.0035