### Table 2: Estimated second order system parameters, and the effec- tive endpoint stiffness in the vertical direction, kG, computed from joint compliance estimates.

"... In PAGE 4: ... This window is larger in the less stiff surface exploration case (20 ms for scratching, 25 ms for exploring since it takes longer to come to rest). Table2 shows these estimates, but also includes the vertical component of the ef- fective endpoint stiffness (denoted G, see Section 6.2) computed using the posture at the time of perturbation and our estimated joint compliances in Table 1.... In PAGE 4: ... The stiffness estimated via perturbation matches surprisingly well with our joint compliance estimates. Table2 also compares our estimates to those of Hajian and Howe [1997], Milner and Franklin [1998], and Kuchenbecker et al. [2003].... ..."

### Table 2: Pitch rate handling qualities speci cations This design uses the model-matching control struc- ture shown in Fig. 2. The second-order reference model

"... In PAGE 5: ...11 Time-domain speci cations for pitch-rate response are illustrated in Fig. 1 and listed in Table2 . Note that the \rise-time quot; parameter t varies with the true velocity VT (in ft/sec).... ..."

### Table 2: Second-order associations as computed.

### Table 6.1 Errors for Example 6.1 using the explicit second order Runge-Kutta scheme

1996

Cited by 9

### Table 6.1: Errors for Example 6.1 using the explicit second order Runge-Kutta scheme

1996

Cited by 9

### Table 6.1 Errors for Example 6.1 using the explicit second order Runge-Kutta scheme

1996

Cited by 9

### Table 1: Spiral rotation period for various grid spacings and time steps. Results in square brackets are for explicit-Euler time-stepping and results in parentheses are for second-order implicit time-stepping. All other results are for third-order implicit time-stepping.

1997

"... In PAGE 14: ... There are two points to make based on the data shown and our general impres- sions from numerous simulations. The rst can be seen from the runs at h = 2=7 in Table1 . The spiral period converges much faster as a function of time step with third-order implicit time-stepping than for either of the other two methods.... ..."

Cited by 10