Design and Optimization of a Planar Biped Leg Based on Direct Drive Linear Actuators

Table 1

HuMoD parameters.

Segment	Length (m)	Mass (kg)
Head	0.275	3.838
Upper arm	0.248	1.282
Lower arm	0.245	1.061
Thorax	0.228	15.067
Pelvis	Along Y: 0.124	8.364
	Along Z: 0.187
Thigh	0.380	8.332
Shank	0.358	2.573
Foot	Along X: 0.121	0.570
	Along Y: 0.054
	Along Z: 0.034