115

uhinge 9 0.03348,0.09164,-0.0837 0,0,1 1,0,0# ankle - 2 DOF ankle
#(pitch, roll)

bone 11# left upper arm
seg 0.0289,1.4203,0.1847 0.0287,1.1491,0.2102
mass 2.79
iner 0.025 0.005 0.025
cofm 0 1.34 0.21
hinge 3 0.02,1.4203,0.1847 0,0,1# shoulder - 1 DOF (pitch)

bone 12# left lower arm
seg 0.0287,1.1491,0.2102 0.0287,0.85,0.2302
mass 1.761
iner 0.0066 0.0018 0.0080
cofm 0.0287 1.03 0.222
hinge 11 0.0287,1.1491,0.2102 0,0,1# elbow - 1 DOF (pitch)

bone 13# right upper arm
seg 0.0289,1.4203,-0.1847 0.0287,1.1491,-0.2102
mass 2.79
iner 0.025 0.005 0.025
cofm 0 1.34 -0.21
hinge 3 0.02,1.4203,-0.1847 0,0,1# shoulder - 1 DOF (pitch)

bone 14# right lower arm
seg 0.0287,1.1491,-0.2102 0.0287,0.85,-0.2302
mass 1.761
iner 0.0066 0.0018 0.0080
cofm 0.0287 1.03 -0.222
hinge 13 0.0287,1.1491,-0.2102 0,0,1# elbow - 1 DOF (pitch)

### JOINT STRENGTH (Kp & Kd) PARAMETERS------------------------------------

kpd hinge 2:02000 100# waist pitch (z)
kpd hinge 3:02000 100# spine pitch (z)
kpd hinge 4:010010# neck pitch (z)

kpd hinge 5:090030# left hip roll (x)
kpd hinge 5:1127560# left hip pitch (z)
kpd hinge 5:2127560# left hip yaw (y)

kpd hinge 6:0127560# left knee pitch (z)

kpd hinge 7:017017# left ankle pitch (z)
kpd hinge 7:117017# left ankle roll (x)

kpd hinge 8:090030# right hip roll (x)
kpd hinge 8:1127560# right hip pitch (z)
kpd hinge 8:2127560# right hip yaw (y)

kpd hinge 9:0127560# right knee pitch (z)

kpd hinge 10:017017# right ankle pitch (z)
kpd hinge 10:117017# right ankle roll (x)

kpd hinge 11:0100 10# left shoulder pitch (z)
kpd hinge 12:0505# left elbow pitch (z)

kpd hinge 13:0100 10# right shoulder pitch (z)
kpd hinge 14:0505# right elbow pitch (z)