### Table 1. Geometric Parameters for Three-Element, Three-Dimensional Bipedal Locomotion Model Member

"... In PAGE 4: ... The sys- tem is therefore represented in three-dimensional space by six joints and six segments, of which only three are massive. The geometric parameters and inertial properties of the members of the kinematic chain representing the locomotion model are given in Table1 . Six generalized coordinates correspond to the rotations at each of the six joints.... ..."

### Table 1. System parameters. Robot model parameters Locomotion parameters

2006

"... In PAGE 7: ..., 2005) with stiffness K17F and damping B17F (17 23x3 y4) (Figure 3), yielding: fixF 25KxF 5xiF 5 xiF06 5 BxF 15 5yiF 5 yiF062 58 xiF 58xiF06 (9a) fiyF 25KyF 5yiF 5 yiF06 5 ByF 15 5yiF 5 yiF06216 5 8 yiF 58yiF06 (9b) where xiF0 and yiF0 are the coordinates of touchdown for foot i,and16 14 120isaparame- ter dependent on the ground characteristics. The values for the parameters K17F and B17F ( Table1 ) are based on studies of soil mechanics (Silva et al.... In PAGE 10: ... The simulation results show the superior performance of the FO PD1 controller for a fractional order 1 j 2 025, when all leg joints are motor actuated. For simulation purposes we used the parameters given in Table1 for the locomotion, the robot body and the ground (assuming that the robot is walking on a level surface of compact clay). The discrete-time control algorithm is evaluated with a sampling frequency of fsc 2 1020 kHz while the robot and environment are simulated with a sampling frequency of fsr 2 10020kHz.... ..."

### TABLE I LOCOMOTION METHODS

2004

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### Table 1]. V. NUMERICAL EXAMPLE The reduced-order observer is illustrated on the underac- tuated, 5-link, planar, bipedal robot of [31, Sect. VII]; see Fig. 2. The system has five degrees of freedom in single support, and hence five velocity components to estimate. A state feedback was designed on the basis of virtual constraints as in [31], and then implemented with an input- output linearizing controller as in [23]. The system with state feedback has an exponentially stable periodic orbit, as depicted in Fig. 3. The state feedback was then implemented using the reduced-order observer, with a gain of epsilon1 =0.3. The asymptotic convergence of the velocity errors is shown in Fig. 4.

### Table 1 Locomotive and freight wagon description

"... In PAGE 2: ... Loading Passage of vehicle over the bridge with various speeds was considered for bridge loading. A single locomotive and a locomotive with two freight wagons were used for this purpose ( Table1 ). The locomotive had six axle and 111 tones weight.... ..."

### Table 16 Locomotive Groups for Current Fleet

2004

"... In PAGE 28: ... The number following the initial YS or LH designation is based on an ordering of the locomotives in order of increasing rated horsepower. The initial data columns in Table16 show the individual locomotive designations that were included in each group, the total of number of locomotives in the group, the rated power of individual locomotives in the group, and the total rated power of all locomotives in the group. In several cases the individual locomotives in the group had slightly different power ratings.... In PAGE 30: ... Despite these limitations, it is important to remember that for purposes of computing average emission rates, it is only the fraction of each locomotive type that is required. The emissions data reference column in Table16 is an abbreviation that is used in Tables 17 and 18 to present the emissions data and is used in Table 19 to provide the specific reference to the data and any additional adjustments that were done to the emissions data. The final three columns in Table 16 show the cycle average power and the percent of the total fleet power represented by the locomotive groups.... In PAGE 30: ... The emissions data reference column in Table 16 is an abbreviation that is used in Tables 17 and 18 to present the emissions data and is used in Table 19 to provide the specific reference to the data and any additional adjustments that were done to the emissions data. The final three columns in Table16 show the cycle average power and the percent of the total fleet power represented by the locomotive groups. Two different measures of the relative power were used: the percent of the rated power and the percent of the cycle average power.... In PAGE 30: ... The latter is based on the average power requirement during the appropriate EPA cycle. The cycle power in Table16 is based on the line-haul cycle for line-haul locomotives and on the yard/switch cycle for locomotives used for the yard service distribution. As noted later, the use of these two different distributions made a negligible difference on the fleet average emission factors.... ..."

### Table 1: Stand-Alone locomotion performance.

2002

"... In PAGE 6: ...(b) (c) Figure 3: Photos of locomotion experiment for the blob shape mentioned in the bottom row of Table1 . In (a), the leftmost column is contracted, and in (b) and (c) the following columns contract to make the group walk to the right.... ..."

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