Masses information

This page details the mass, center of mass and inertial matrix of each solid (S) on the right side of a NAO 3.2.

The center of mass position and the inertial matrix are described relative to the local coordinate system of the current solid (S) (o, R).

All solids (S) and local coordinate system are descrribed relative to the zero posture: standing with straight legs and arms pointing forwards).

Torso frame definition

Center of Mass and Inertial matrix definition

NAO

NAO motorized hand mass[Academic Edition] (grams) 4835.92
NAO no motorized hand mass[RoboCup Edition] (grams) 4698.52

Torso

Torso mass information

Mass (grams) 1026.28
Center of Mass CoM(S)(o, R) (mm) XG = -4.80 YG = 0.06 ZG = 42.27
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 4879532.84 Ixy = -14285.91 Ixz = -195456.51

Iyx = -14285.91 Iyy = 4703606.98 Iyz = 22245.89

Izx = -195456.51 Izy = 22245.89 Izz = 1567135.20

Neck

Neck mass information

Mass (grams) 59.59
Center of Mass CoM(S)(o, R) (mm) XG = -0.03 YG = 0.18 ZG = -25.73
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 62233.68 Ixy = 0.42 Ixz = 74.48

Iyx = 0.42 Iyy = 63244.31 Iyz = 104.16

Izx = 74.48 Izy = 104.16 Izz = 5494.62

Head

Head mass information

Mass (grams) 476.71
Center of Mass CoM(S)(o, R) (mm) XG = 3.83 YG = -0.93 ZG = 51.56
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 2088957.41 Ixy = 5490.94 Ixz = 113399.50

Iyx = 5490.94 Iyy = 1932222.63 Iyz = -28039.17

Izx = 113399.50 Izy = -28039.17 Izz = 822577.93

Right Shoulder

Right Shoulder mass information

Mass (grams) 69.84
Center of Mass CoM(S)(o, R) (mm) XG = -1.78 YG = 25.07 ZG = 0.19
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 71018.54 Ixy = -2024.58 Ixz = -17.13

Iyx = -2024.58 Iyy = 14049.20 Iyz = -44.10

Izx = -17.13 Izy = -44.10 Izz = 73144.67

Right Bicep

Right Bicep mass information

Mass (grams) 121.66
Center of Mass CoM(S)(o, R) (mm) XG = 20.67 YG = -3.88 ZG = 3.62
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 59317.93 Ixy = -1939.29 Ixz = 15645.03

Iyx = -1939.29 Iyy = 202210.58 Iyz = -3687.31

Izx = 15645.03 Izy = -3687.31 Izz = 184215.56

Right Elbow

Right Elbow mass information

Mass (grams) 59.59
Center of Mass CoM(S)(o, R) (mm) XG = -25.73 YG = 0.01 ZG = -0.20
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 5494.62 Ixy = -22.42 Ixz = -67.71

Iyx = -22.42 Iyy = 62247.89 Iyz = 5.59

Izx = -67.71 Izy = 5.59 Izz = 63230.10

Right Motorized ForeArm

Right Motorized ForeArm mass information

Mass (grams) 37.70
Center of Mass CoM(S)(o, R) (mm) XG = 19.40 YG = -3.04 ZG = 2.50
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 12711.01 Ixy = -1314.60 Ixz = 1436.26

Iyx = -1314.60 Iyy = 30569.01 Iyz = -206.86

Izx = 1436.26 Izy = -206.86 Izz = 29762.87

Right Motorized Hand

Right Motorized Hand mass information

Mass (grams) 143.14
Center of Mass CoM(S)(o, R) (mm) XG = 32.41 YG = -2.68 ZG = -2.72
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 56926.20 Ixy = -8222.13 Ixz = -11362.87

Iyx = -8222.13 Iyy = 272309.07 Iyz = 1817.80

Izx = -11362.87 Izy = 1817.80 Izz = 266113.99

Right No Motorized ForeArm

Right No Motorized ForeArm mass information

Mass (grams) 112.82
Center of Mass CoM(S)(o, R) (mm) XG = 69.92 YG = -0.96 ZG = -1.14
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 53951.90 Ixy = 5382.05 Ixz = 3560.87

Iyx = -2163.70 Iyy = 230776.22 Iyz = -47.22

Izx = -5465.34 Izy = -47.22 Izz = 227897.26

Right Pelvis

Right Pelvis mass information

Mass (grams) 72.44
Center of Mass CoM(S)(o, R) (mm) XG = -7.17 YG = 11.87 ZG = 27.05
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 90644.95 Ixy = -4888.19 Ixz = -12219.25

Iyx = -4888.19 Iyy = 106657.80 Iyz = 27838.20

Izx = -12219.25 Izy = 27838.20 Izz = 67428.59

Right Hip

Right Hip mass information

Mass (grams) 135.30
Center of Mass CoM(S)(o, R) (mm) XG = -16.49 YG = -0.29 ZG = -4.75
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 27913.09 Ixy = 49.82 Ixz = 5309.68

Iyx = 49.82 Iyy = 101469.05 Iyz = 0.49

Izx = 5309.68 Izy = 0.49 Izz = 92093.58

Right Thigh

Right Thigh mass information

Mass (grams) 397.98
Center of Mass CoM(S)(o, R) (mm) XG = 1.31 YG = -2.01 ZG = -53.86
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 1665589.85 Ixy = 432.51 Ixz = -82505.12

Iyx = 432.51 Iyy = 1624996.86 Iyz = 31742.81

Izx = -82505.12 Izy = 31742.81 Izz = 304928.52

Right Tibia

Right Tibia mass information

Mass (grams) 297.06
Center of Mass CoM(S)(o, R) (mm) XG = 4.71 YG = -2.10 ZG = -48.91
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 1180337.82 Ixy = 305.42 Ixz = -40171.04

Iyx = 305.42 Iyy = 1129278.11 Iyz = 35736.39

Izx = -40171.04 Izy = 35736.39 Izz = 193490.09

Right Ankle

Right Ankle mass information

Mass (grams) 138.92
Center of Mass CoM(S)(o, R) (mm) XG = 1.42 YG = -0.28 ZG = 6.38
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 38825.78 Ixy = -49.42 Ixz = -2213.21

Iyx = -49.42 Iyy = 72115.79 Iyz = 6.74

Izx = -2213.21 Izy = 6.74 Izz = 53519.87

Right Foot

Right Foot mass information

Mass (grams) 163.04
Center of Mass CoM(S)(o, R) (mm) XG = 24.89 YG = -3.30 ZG = -32.08
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 267598.00 Ixy = -5927.18 Ixz = -137299.18

Iyx = -5927.18 Iyy = 643148.36 Iyz = 18697.69

Izx = -137299.18 Izy = 18697.69 Izz = 526497.38





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