Mass distribution over different segments

[tfederico]

Hi,

how do you calculate the distribution of the mass over the different segments? Did you use any reference from the literature?

The only thing the paper mentions is the total weight of the body, but no info about how you divided the total over the different segments

[xbpeng]

The masses of the different body parts are mainly ad hoc. We just looked up what the average mass of different body parts in the human body typically is and used those ballpark figures.

[tfederico]

I see, thanks! I did the same but I found that some of that were a bit different so I wanted to double check.

What about the joint limits? Did you use a reference for those as well?

[tfederico]

Sorry, I meant the max forces/effort applicable to each joint and the term kp for the PID controller when I said joint limits. Are they related in some way to the mass of the body parts?