TEO Diagrams

Joint Indexes

Joint Indexes (CAN bus)	Joint Indexes (YARP ports)

Joint Directions of Rotation

Joint Directions of Rotation

DH Coordinate Systems and Parameter Table

DH Coordinate Systems

DH Parameter Table

Limb Link θ D A α Left leg 1 q7 0 0 -90 2 -90+q8 0 0 -90 3 q9 0 -l10 0 4 q10 -l16 -l11 0 5 q11 0 0 90 6 q12 0 -l12 0 Right leg 1 q6 0 0 90 2 90+q5 0 0 90 3 q4 0 l10 0 4 q3 l16 l11 0 5 q2 0 0 -90 6 q1 0 l12 0 Right arm 1 q15 0 0 90 2 -90+q16 0 0 90 3 -90+q17 l6 0 90 4 q18 0 0 -90 5 q19 l7 0 90 6 90+q20 0 l8 0 Left arm 1 q21 0 0 90 2 90+q22 0 0 90 3 90+q23 l6 0 90 4 q24 0 0 -90 5 q25 l7 0 90 6 90+q26 0 l8 0 Trunk 1 q13 l0 0 -90 2 q14 0 0 0 Head 1 q27 0 0 90 2 q28 0 0 -90 H_head_rgb TrasZ(-l14) * TrasY(l3) * RotY(90) * RotZ(180) H_head_depth TrasZ(-l14-l15) * TrasY(l3) * RotY(90) * RotZ(180) H_head_flea TrasY(l3+l4) * RotY(90) * RotZ(180) H_hip_neck RotX(90) * TrasZ(l1+l2) H_hip_leftArm TrasY(-l1) * TrasZ(l5) * RotZ(90) H_hip_rightArm TrasY(-l1) * TrasZ(-l5) * RotZ(-90) * RotX(180) H_root_leftLeg TrasY(l13) * TrasZ(-l9) * RotZ(90) H_root_rightLeg TrasY(-l13) * TrasZ(-l9) * RotZ(90) * RotX(180)

Link Lengths

Link Lengths
lengths distance [mm] l0 193.2 l1 305 l2 162.5 l3 59.742 l4 37.508 l5 346.92 l6 329.01 l7 202 l8 187.496 Con F/T, a 2 cm debajo chapa final mano. l9 92 l10 330 l11 300 l12 123.005 l13 146 l14 18 l15 26 l16 17.5

COGs

COGs

F-T sensors

F-T sensors

Sources for Develop

Sources of all diagrams can be found at: http://robots.uc3m.es/svn/TEOrepo/modelling/diagrams/.