Abstract
From the background information supplied by the inventors, news correspondents o btained the following quote: 'An example robot may have a plurality of members f orming the robot's legs and arms. The motion of these members may be controlled by actuators such as hydraulic cylinders and motors. The design of these actuato rs determines the performance characteristics of the robot such as how fast the robot can respond to commands and external disturbances. Design factors that aff ect performance of the robot may include rotary inertia of the actuator and gear ratio of a transmission coupled thereto, among other factors.'
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