
Geometric parameters  

 93.5 mm 
 106.07 mm 

Main inertial parameters  

Endeffector mass  3.893·10^{1} kg 
End effector inertia matrix with respect to the coordinate frame  
Mass of the leg link 1  kg 
Moment of inertia of the leg link 1 about its cylindrical joint axis  kgm^{2} 
Mass of the leg link 2  kg 
Moment of inertia of the leg link 2 about its principal axis parallel to the cylindrical joint axis of the same leg  kgm^{2} 
Mass of the universal joint cross  kg 
