< ATRIAS 2.1 Handbook < Technical Specifications < Solid Model Specifications
Leg SubAssembly Mass and Inertias
![](../../../../I/m/Inertias_leg_overview.png)
Overview of the different inertial assemblies that make up the ATRIAS 2.1 leg
Link: Exploding view animation of the ATRIAS 2.1 Leg
Mass of one leg = 19.8 kg
Sub-assemblies
Thigh Bone
Motor Outputs for Shin and Thigh
Four-Bar Link
Lower Leg
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