PLEN Playground - Wiki

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Joint No. Assignment
====================

The distinction between left and right is defined as seen from the PLEN's back.
Rotation axis is expressed by an arrow-shaped and this is subject to [the right-hand rule](https://en.wikipedia.org/wiki/Right-hand_rule).
"**・**" symbol means a vector from back to front. (as if this crosses your screen vertically.)
"**×**" symbol means a negative vector of a vector described previously.
(See also : [Frame of Reference of a Servo Motor](http://plen.jp/playground/wiki/specifications/frame_of_reference))

(This is only available for just after PLEN was starting. If you rotated any parent joint, also child joints are rotating.)

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{{ specifications/PLEN_body.png?nolink&350 | PLEN Body }}
<markdown>
|No.|Name                |Index (Old)|Index (New)|Rotation axis|
|:-:|:-------------------|:---------:|:---------:|:-----------:|
|1  |Left Shoulder Pitch |18         |0          |←           |
|2  |Left Thigh Yaw      |12         |1          |↑           |
|3  |Left Shoulder Roll  |19         |2          |×           |
|4  |Left Elbow Roll     |21         |3          |・           |
|5  |Left Thigh Roll     |13         |4          |×           |
|6  |Left Thigh Pitch    |14         |5          |←           |
|7  |Left Knee Pitch     |15         |6          |←           |
|8  |Left Foot Pitch     |17         |7          |→           |
|9  |Left Foot Roll      |16         |8          |・           |
|10 |Right Shoulder Pitch|6          |12         |→           |
|11 |Right Thigh Yaw     |0          |13         |↑           |
|12 |Right Shoulder Roll |7          |14         |×           |
|13 |Right Elbow Roll    |9          |15         |・           |
|14 |Right Thigh Roll    |1          |16         |×           |
|15 |Right Thigh Pitch   |2          |17         |→           |
|16 |Right Knee Pitch    |3          |18         |→           |
|17 |Right Foot Pitch    |5          |19         |←           |
|18 |Right Foot Roll     |4          |20         |・           |
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PLEN Playground - Wiki

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