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1、Thisarticlewasdownloadedby:[ShanghaiJiaotongUniversity]On:18April2013,At:04:29Publisher:Taylor&FrancisInformaLtdRegisteredinEnglandandWalesRegisteredNumber:1072954Registeredoffice:MortimerHouse,37-41MortimerStreet,LondonW1T3JH,UKAdvancedRoboticsPublicationdetails,includinginstructi
2、onsforauthorsandsubscriptioninformation:http://www.tandfonline.com/loi/tadr20DynamicloadingcriteriainactuatorselectionfordesireddynamicperformanceAlanBowling&OussamaKhatibVersionofrecordfirstpublished:02Apr2012.Tocitethisarticle:AlanBowling&OussamaKhatib(2003):Dynamicloadingcriteri
3、ainactuatorselectionfordesireddynamicperformance,AdvancedRobotics,17:7,641-656Tolinktothisarticle:http://dx.doi.org/10.1163/156855303769156992PLEASESCROLLDOWNFORARTICLEFulltermsandconditionsofuse:http://www.tandfonline.com/page/terms-and-conditionsThisarticlemaybeusedforresearch,te
4、aching,andprivatestudypurposes.Anysubstantialorsystematicreproduction,redistribution,reselling,loan,sub-licensing,systematicsupply,ordistributioninanyformtoanyoneisexpresslyforbidden.Thepublisherdoesnotgiveanywarrantyexpressorimpliedormakeanyrepresentationthatthecontentswillbecompl
5、eteoraccurateoruptodate.Theaccuracyofanyinstructions,formulae,anddrugdosesshouldbeindependentlyverifiedwithprimarysources.Thepublishershallnotbeliableforanyloss,actions,claims,proceedings,demand,orcostsordamageswhatsoeverorhowsoevercausedarisingdirectlyorindirectlyinconnectionwitho
6、rarisingoutoftheuseofthismaterial.Downloadedby[ShanghaiJiaotongUniversity]at04:2918April2013AdvancedRobotics,Vol.17,No.7,pp.641–656(2003)ÓVSPandRoboticsSocietyofJapan2003.Alsoavailableonline-www.vsppub.comFullpaperDynamicloadingcriteriainactuatorselectionfordesireddynamicperformanc
7、eALANBOWLING1;¤andOUSSAMAKHATIB21UniversityofNotreDame,NotreDame,IN46556,USA2StanfordUniversity,Stanford,CA94305,USAReceived3December2002;accepted21February2003Abstract—Thisarticlepresentstwomethodsforselectingactuatorsbasedonthedynamicloadingcriteriawhichyieldamanipulatorwithadesi
8、redlevelofdynamicperforman
