H25 - Masses - V3.3

See also

NAO - Technical overview | Masses

NAO H25 | V5 | V4 | V3.3 | V3.2


Warning

The Masses as well as the Center of Mass positions taken in account in the robot models have been updated in order to remove the slight dissymmetry between left and right limbs.

Legend

This page details, for each solid (S) of a robot, the Mass, Center of Mass and Inertial matrix.

\text{Mass (kg)}

\text{CoM(S)} = \left[\begin{array}{c}
X_G \\ Y_G \\ Z_G
\end{array} \right]_{(o, R)} \text{(m)}

\left[I_o(S)\right]_R = \left[\begin{array}{ccc}
I_{xx} & I_{xy} & I_{xz} \\
I_{yx} & I_{yy} & I_{yz} \\
I_{zx} & I_{zy} & I_{zz}
\end{array}\right]_R (\text{kg}*\text{m}^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 described relative to the zero posture: standing with straight legs and arms pointing forwards.

/sites/default/files/repository/69_html_nao/_images/hardware_inertialunit.png

Whole robot

\text{Mass} =       4.996

Torso

(o, R) is located on: Torso.

/sites/default/files/repository/69_html_nao/_images/hardware_thoraxmass_3.3.png

\text{Mass} = 1.03948

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.00415 \\
                  +0.00000 \\
                  +0.04258
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00496741976 & +0.00001247398 & +0.00016446814 \\
                          +0.00001247398 & +0.00479135246 & -0.00002477669 \\
                          +0.00016446814 & -0.00002477669 & +0.00159784829
                        \end{array}
                        \right]_R

Arms

Right Shoulder

(o, R) is located on the joint: RShoulderPitch.

/sites/default/files/repository/69_html_nao/_images/hardware_rshouldermass_3.3.png

\text{Mass} = 0.06996

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.00178 \\
                  +0.02496 \\
                  +0.00018
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00007102499 & +0.00000202467 & +0.00000001722 \\
                          +0.00000202467 & +0.00001405799 & -0.00000000841 \\
                          +0.00000001722 & -0.00000000841 & +0.00007316600
                        \end{array}
                        \right]_R

Left Shoulder

(o, R) is located on the joint: LShoulderPitch.

\text{Mass} = 0.06996

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.00178 \\
                  -0.02496 \\
                  +0.00018
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00007102499 & -0.00000202467 & +0.00000001722 \\
                          -0.00000202467 & +0.00001405799 & +0.00000000841 \\
                          +0.00000001722 & +0.00000000841 & +0.00007316600
                        \end{array}
                        \right]_R

Right Bicep

(o, R) is located on the joint: RShoulderRoll.

/sites/default/files/repository/69_html_nao/_images/hardware_rbicepmass_3.3.png

\text{Mass} = 0.12309

\text{CoM(S)} = \left[
                \begin{array}{c}
                  +0.01885 \\
                  -0.00577 \\
                  +0.00065
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00008228413 & +0.00003978057 & -0.00000752601 \\
                          +0.00003978057 & +0.00029001445 & +0.00000152945 \\
                          -0.00000752601 & +0.00000152945 & +0.00026842331
                        \end{array}
                        \right]_R

Left Bicep

(o, R) is located on the joint: LShoulderRoll.

\text{Mass} = 0.12309

\text{CoM(S)} = \left[
                \begin{array}{c}
                  +0.01885 \\
                  +0.00577 \\
                  +0.00065
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00008228413 & -0.00003978057 & -0.00000752601 \\
                          -0.00003978057 & +0.00029001445 & -0.00000152945 \\
                          -0.00000752601 & -0.00000152945 & +0.00026842331
                        \end{array}
                        \right]_R

Right Elbow

(o, R) is located on the joint: RElbowYaw.

/sites/default/files/repository/69_html_nao/_images/hardware_relbowmass_3.3.png

\text{Mass} = 0.05971

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.02560 \\
                  +0.00001 \\
                  -0.00019
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00000550319 & +0.00000002243 & +0.00000001534 \\
                          +0.00000002243 & +0.00006225405 & -0.00000000559 \\
                          +0.00000001534 & -0.00000000559 & +0.00006325124
                        \end{array}
                        \right]_R

Left Elbow

(o, R) is located on the joint: LElbowYaw.

\text{Mass} = 0.05971

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.02560 \\
                  -0.00001 \\
                  -0.00019
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00000550319 & -0.00000002243 & +0.00000001534 \\
                          -0.00000002243 & +0.00006225405 & +0.00000000559 \\
                          +0.00000001534 & +0.00000000559 & +0.00006325124
                        \end{array}
                        \right]_R

Right Motorized ForeArm

(o, R) is located on the joint: RElbowRoll.

/sites/default/files/repository/69_html_nao/_images/hardware_rmotorizedforearmmass_3.3.png

\text{Mass} = 0.07724

\text{CoM(S)} = \left[
                \begin{array}{c}
                  +0.02556 \\
                  -0.00273 \\
                  +0.00096
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00002519483 & +0.00000216293 & -0.00000071846 \\
                          +0.00000216293 & +0.00008890315 & +0.00000010809 \\
                          -0.00000071846 & +0.00000010809 & +0.00008686867
                        \end{array}
                        \right]_R

Left Motorized ForeArm

(o, R) is located on the joint: LElbowRoll.

\text{Mass} = 0.07724

\text{CoM(S)} = \left[
                \begin{array}{c}
                  +0.02556 \\
                  +0.00273 \\
                  +0.00096
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00002519483 & -0.00000216293 & -0.00000071846 \\
                          -0.00000216293 & +0.00008890315 & -0.00000010809 \\
                          -0.00000071846 & -0.00000010809 & +0.00008686867
                        \end{array}
                        \right]_R

Hands - motorized

Right Motorized Hand

(o, R) is located on the joint: RWristYaw.

/sites/default/files/repository/69_html_nao/_images/hardware_rmotorizedhandmass_3.3.png

\text{Mass} = 0.16653

\text{CoM(S)} = \left[
                \begin{array}{c}
                  +0.03180 \\
                  -0.00083\\
                  +0.00477
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00006105675 & +0.00000503640 & -0.00003895369 \\
                          +0.00000503640 & +0.00027947351 & +0.00000293076 \\
                          -0.00003895369 & +0.00000293076 & +0.00027998803
                        \end{array}
                        \right]_R

Left Motorized Hand

(o, R) is located on the joint: LWristYaw.

\text{Mass} = 0.16653

\text{CoM(S)} = \left[
                \begin{array}{c}
                  +0.03180 \\
                  +0.00083\\
                  +0.00477
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00006105675 & -0.00000503640 & -0.00003895369 \\
                          -0.00000503640 & +0.00027947351 & -0.00000293076 \\
                          -0.00003895369 & -0.00000293076 & +0.00027998803
                        \end{array}
                        \right]_R

Legs

Right Pelvis

(o, R) is located on the joint: RHipYawPitch.

/sites/default/files/repository/69_html_nao/_images/hardware_rpelvismass_3.3.png

\text{Mass} = 0.07117

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.00766 \\
                  +0.01200 \\
                  +0.02717
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00008997164 & +0.00000500214 & +0.00001273548 \\
                          +0.00000500214 & +0.00010552250 & -0.00002770075 \\
                          +0.00001273548 & -0.00002770075 & +0.00006688382
                        \end{array}
                        \right]_R

Left Pelvis

(o, R) is located on the joint: LHipYawPitch.

\text{Mass} = 0.07117

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.00766 \\
                  -0.01200 \\
                  +0.02717
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00008997164 & -0.00000500214 & +0.00001273548 \\
                          -0.00000500214 & +0.00010552250 & +0.00002770075 \\
                          +0.00001273548 & +0.00002770075 & +0.00006688382
                        \end{array}
                        \right]_R

Right Hip

(o, R) is located on the joint: RHipRoll.

/sites/default/files/repository/69_html_nao/_images/hardware_rhipmass_3.3.png

\text{Mass} = 0.13530

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.01649 \\
                  -0.00029 \\
                  -0.00475
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00002791129 & -0.00000004765 & -0.00000530958 \\
                          -0.00000004765 & +0.00010146847 & -0.00000000007 \\
                          -0.00000530958 & -0.00000000007 & +0.00009209165
                        \end{array}
                        \right]_R

Left Hip

(o, R) is located on the joint: LHipRoll.

\text{Mass} = 0.13530

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.01649 \\
                  +0.00029 \\
                  -0.00475
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00002791129 & +0.00000004765 & -0.00000530958 \\
                          +0.00000004765 & +0.00010146847 & +0.00000000007 \\
                          -0.00000530958 & +0.00000000007 & +0.00009209165
                        \end{array}
                        \right]_R

Right Thigh

(o, R) is located on the joint: RHipPitch.

/sites/default/files/repository/69_html_nao/_images/hardware_rthighmass_3.3.png

\text{Mass} = 0.39421

\text{CoM(S)} = \left[
                \begin{array}{c}
                +0.00132 \\
                -0.00235 \\
                -0.05352
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00163011959 & -0.00000031939 & +0.00008287048 \\
                          -0.00000031939 & +0.00159269948 & -0.00004333919 \\
                          +0.00008287048 & -0.00004333919 & +0.00030120888
                        \end{array}
                        \right]_R

Left Thigh

(o, R) is located on the joint: LHipPitch.

\text{Mass} = 0.39421

\text{CoM(S)} = \left[
                \begin{array}{c}
                +0.00132 \\
                +0.00235 \\
                -0.05352
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00163011959 & +0.00000031939 & +0.00008287048 \\
                          +0.00000031939 & +0.00159269948 & +0.00004333919 \\
                          +0.00008287048 & +0.00004333919 & +0.00030120888
                        \end{array}
                        \right]_R

Right Tibia

(o, R) is located on the joint: RKneePitch.

/sites/default/files/repository/69_html_nao/_images/hardware_rtibiamass_3.3.png

\text{Mass} = 0.29159

\text{CoM(S)} = \left[
                \begin{array}{c}
                +0.00422 \\
                -0.00252 \\
                -0.04868
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00115382550 & -0.00000077529 & +0.00003231279 \\
                          -0.00000077529 & +0.00110377729 & -0.00004396728 \\
                          +0.00003231279 & -0.00004396728 & +0.00018861038
                        \end{array}
                        \right]_R

Left Tibia

(o, R) is located on the joint: LKneePitch.

\text{Mass} = 0.29159

\text{CoM(S)} = \left[
                \begin{array}{c}
                +0.00422 \\
                +0.00252 \\
                -0.04868
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00115382550 & +0.00000077529 & +0.00003231279 \\
                          +0.00000077529 & +0.00110377729 & +0.00004396728 \\
                          +0.00003231279 & +0.00004396728 & +0.00018861038
                        \end{array}
                        \right]_R

Right Ankle

(o, R) is located on the joint: RAnklePitch.

/sites/default/files/repository/69_html_nao/_images/hardware_ranklemass_3.3.png

\text{Mass} = 0.13892

\text{CoM(S)} = \left[
                \begin{array}{c}
                +0.00142 \\
                -0.00028 \\
                +0.00638
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00003882614 & +0.00000004711 & +0.00000221327 \\
                          +0.00000004711 & +0.00007211571 & -0.00000000686 \\
                          +0.00000221327 & -0.00000000686 & +0.00005352041
                        \end{array}
                        \right]_R

Left Ankle

(o, R) is located on the joint: LAnklePitch.

\text{Mass} = 0.13892

\text{CoM(S)} = \left[
                \begin{array}{c}
                +0.00142 \\
                +0.00028 \\
                +0.00638
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                          +0.00003882614 & -0.00000004711 & +0.00000221327 \\
                          -0.00000004711 & +0.00007211571 & +0.00000000686 \\
                          +0.00000221327 & +0.00000000686 & +0.00005352041
                        \end{array}
                        \right]_R

Right Foot

(o, R) is located on the joint: RAnkleRoll.

/sites/default/files/repository/69_html_nao/_images/hardware_rfootmass_3.3.png

\text{Mass} = 0.16175

\text{CoM(S)} = \left[
                \begin{array}{c}
                +0.02540 \\
                -0.00332 \\
                -0.03241
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                        +0.00026961204 & +0.00000587690 & +0.00013924446 \\
                        +0.00000587690 & +0.00064387818 & -0.00001887096 \\
                        +0.00013924446 & -0.00001887096 & +0.00052519167
                        \end{array}
                        \right]_R

Left Foot

(o, R) is located on the joint: LAnkleRoll.

\text{Mass} = 0.16175

\text{CoM(S)} = \left[
                \begin{array}{c}
                +0.02540 \\
                +0.00332 \\
                -0.03241
                \end{array}
                \right]_{(o, R)}

\left[I_o(S)\right]_R = \left[
                        \begin{array}{ccc}
                        +0.00026961204 & -0.00000587690 & +0.00013924446 \\
                        -0.00000587690 & +0.00064387818 & +0.00001887096 \\
                        +0.00013924446 & +0.00001887096 & +0.00052519167
                        \end{array}
                        \right]_R