Table 5.
Dimensions and inertia properties of the robot segments.
| Segment | Length (mm) | Moment of inertia about the proximal joint axis (kg · m2) |
|---|---|---|
| Thigh | 365–465 | 0.141–0.258 |
| Shank | 365–465 | 0.140–0.259 |
| Foot | 75–95 | 0.006–0.007 |
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