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

Leg SubAssembly Mass and Inertias

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