Masses information

This page details the mass, center of mass and inertial matrix of each solid (S) on the right side of a NAO 3.3.

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 H25 (grams) 4996
NAO H21 (grams) 4879

Torso

Torso mass information 3.3

Mass (grams) 1039.48
Center of Mass CoM(S)(o, R) (mm) XG = -4.15 YG = 0.07 ZG = 42.58
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 4967419.76 Ixy = -12473.98 Ixz = -164468.14

Iyx = -12473.98 Iyy = 4791352.46 Iyz = 24776.69

Izx = -164468.14 Izy = 24776.69 Izz = 1597848.29

Neck

Neck mass information 3.3

Mass (grams) 59.30
Center of Mass CoM(S)(o, R) (mm) XG = -0.02 YG = 0.17 ZG = -25.56
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 61803.08 Ixy = 2.05 Ixz = 49.48

Iyx = 2.05 Iyy = 62818.59 Iyz = 50.67

Izx = 49.48 Izy = 50.67 Izz = 5439.77

Head

Head mass information 3.3

Mass (grams) 520.65
Center of Mass CoM(S)(o, R) (mm) XG = 1.20 YG = -0.84 ZG = 53.53
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 2265870.04 Ixy = -7871.81 Ixz = 11926.53

Iyx = -7871.81 Iyy = 2264205.13 Iyz = 2318.46

Izx = 11926.53 Izy = 2318.46 Izz = 873733.21

Right Shoulder

Right Shoulder mass information 3.3

Mass (grams) 69.96
Center of Mass CoM(S)(o, R) (mm) XG = -1.78 YG = 24.96 ZG = 0.18
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 71024.99 Ixy = -2024.67 Ixz = -17.22

Iyx = -2024.67 Iyy = 14057.99 Iyz = 8.41

Izx = -17.22 Izy = 8.41 Izz = 73166.00

Right Bicep

Right Bicep mass information 3.3

Mass (grams) 123.09
Center of Mass CoM(S)(o, R) (mm) XG = 18.85 YG = -5.77 ZG = 0.65
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 82284.13 Ixy = -39780.57 Ixz = 7526.01

Iyx = -39780.57 Iyy = 290014.45 Iyz = -1529.45

Izx = 7526.01 Izy = -1529.45 Izz = 268423.31

Right Elbow

Right Elbow mass information

Mass (grams) 59.71
Center of Mass CoM(S)(o, R) (mm) XG = -25.60 YG = 0.01 ZG = -0.19
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 5503.19 Ixy = -22.43 Ixz = -15.34

Iyx = -22.43 Iyy = 62254.05 Iyz = 5.59

Izx = -15.34 Izy = 5.59 Izz = 63251.24

Right Motorized ForeArm

Right Motorized ForeArm mass information 3.3

Mass (grams) 77.24
Center of Mass CoM(S)(o, R) (mm) XG = 25.56 YG = -2.73 ZG = 0.96
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 25194.83 Ixy = -2162.93 Ixz = 718.46

Iyx = -2162.93 Iyy = 88903.15 Iyz = -108.09

Izx = 718.46 Izy = -108.09 Izz = 86868.67

Right Motorized Hand

Right Motorized Hand mass information

Mass (grams) 166.53
Center of Mass CoM(S)(o, R) (mm) XG = 31.80 YG = -0.83 ZG = 4.77
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 61056.75 Ixy = -5036.40 Ixz = 38953.69

Iyx = -5036.40 Iyy = 279473.51 Iyz = -2930.76

Izx = 38953.69 Izy = -2930.76 Izz = 279988.03

Right No Motorized Hand

Right No Motorized ForeArm mass information

Mass (grams) 185.00
Center of Mass CoM(S)(o, R) (mm) XG = 65.36 YG = -0.34 ZG = -0.02
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 78310.52 Ixy = 10067.58 Ixz = -7569.42

Iyx = 10067.58 Iyy = 1129968.01 Iyz = -132.37

Izx = -7569.42 Izy = -132.37 Izz = 1126955.18

Right Pelvis

Right Pelvis mass information 3.3

Mass (grams) 71.17
Center of Mass CoM(S)(o, R) (mm) XG = -7.66 YG = 12.00 ZG = 27.17
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 89971.64 Ixy = -5002.14 Ixz = -12735.48

Iyx = -5002.14 Iyy = 105522.50 Iyz = 27700.75

Izx = -12735.48 Izy = 27700.75 Izz = 66883.82

Right Hip

Right Hip mass information 3.3

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 = 27911.29 Ixy = 47.65 Ixz = 5309.58

Iyx = 47.65 Iyy = 101468.47 Iyz = 0.07

Izx = 5309.58 Izy = 0.07 Izz = 92091.65

Right Thigh

Right Thigh mass information 3.3

Mass (grams) 394.21
Center of Mass CoM(S)(o, R) (mm) XG = 1.32 YG = -2.35 ZG = -53.52
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 1630119.59 Ixy = 319.39 Ixz = -82870.48

Iyx = 319.39 Iyy = 1592699.48 Iyz = 43339.19

Izx = -82870.48 Izy = 43339.19 Izz = 301208.88

Right Tibia

Right Tibia mass information 3.3

Mass (grams) 291.59
Center of Mass CoM(S)(o, R) (mm) XG = 4.22 YG = -2.520 ZG = -48.68
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 1153825.50 Ixy = 775.29 Ixz = -32312.79

Iyx = 775.29 Iyy = 1103777.29 Iyz = 43967.28

Izx = -32312.79 Izy = 43967.28 Izz = 188610.38

Right Ankle

Right Ankle mass information 3.3

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 = 38826.14 Ixy = -47.11 Ixz = -2213.27

Iyx = -47.11 Iyy = 72115.71 Iyz = 6.86

Izx = -2213.27 Izy = 6.86 Izz = 53520.41

Right Foot

Right Foot mass information 3.3

Mass (grams) 161.75
Center of Mass CoM(S)(o, R) (mm) XG = 25.40 YG = -3.32 ZG = -32.41
Inertial matrix [IO(S)]R (grams*mm2)

Ixx = 269612.04 Ixy = -5876.90 Ixz = -139244.46

Iyx = -5876.90 Iyy = 643878.18 Iyz = 18870.96

Izx = -139244.46 Izy = 18870.96 Izz = 525191.67





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