(************** Content-type: application/mathematica ************** CreatedBy='Mathematica 5.1' Mathematica-Compatible Notebook This notebook can be used with any Mathematica-compatible application, such as Mathematica, MathReader or Publicon. The data for the notebook starts with the line containing stars above. To get the notebook into a Mathematica-compatible application, do one of the following: * Save the data starting with the line of stars above into a file with a name ending in .nb, then open the file inside the application; * Copy the data starting with the line of stars above to the clipboard, then use the Paste menu command inside the application. Data for notebooks contains only printable 7-bit ASCII and can be sent directly in email or through ftp in text mode. Newlines can be CR, LF or CRLF (Unix, Macintosh or MS-DOS style). 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For more information on notebooks and Mathematica-compatible applications, contact Wolfram Research: web: http://www.wolfram.com email: info@wolfram.com phone: +1-217-398-0700 (U.S.) Notebook reader applications are available free of charge from Wolfram Research. *******************************************************************) (*CacheID: 232*) (*NotebookFileLineBreakTest NotebookFileLineBreakTest*) (*NotebookOptionsPosition[ 132498, 2805]*) (*NotebookOutlinePosition[ 133142, 2827]*) (* CellTagsIndexPosition[ 133098, 2823]*) (*WindowFrame->Normal*) Notebook[{ Cell[CellGroupData[{ Cell["\<\ Mathematical Model for 3D Point-footed, Midleg-Mass, Hipped Walker without \ Yaw\ \>", "Title"], Cell["\<\ Modeling by Robert D Gregg rdgregg@eecs.berkeley.edu Center for Hybrid and Embedded Software Systems Electrical Engineering and Computer Sciences University of California, Berkeley\ \>", "Subsubtitle"], Cell[CellGroupData[{ Cell[BoxData[{ \(<< \ H:\\Screws.m\), "\[IndentingNewLine]", \(<< \ 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