<?xml version="1.0" encoding="UTF-8"?><xml><records><record><source-app name="Biblio" version="7.x">Drupal-Biblio</source-app><ref-type>17</ref-type><contributors><authors><author><style face="normal" font="default" size="100%">DeHart, Brandon J.</style></author><author><style face="normal" font="default" size="100%">Gorbet, Rob</style></author><author><style face="normal" font="default" size="100%">Kulic, Dana</style></author></authors></contributors><titles><title><style face="normal" font="default" size="100%">Quantifying Balance Capabilities for Optimal Mechanism Design</style></title><secondary-title><style face="normal" font="default" size="100%">IEEE Transactions on Robotics</style></secondary-title></titles><dates><year><style  face="normal" font="default" size="100%">Submitted</style></year></dates><language><style face="normal" font="default" size="100%">eng</style></language><abstract><style face="normal" font="default" size="100%">For legged systems, achieving balance and locomotion depends on the system's capability to effectively and efficiently move its Center of Mass relative to its contact point(s).&amp;nbsp;To measure this capability, we introduce a generalization of velocity gains: dynamic ratios which quantify this motion for passive contacts.&amp;nbsp;We incorporate this generalized gain into an objective function and apply weighted matrix norms to facilitate the parameterized design optimization of 3D mechanisms.&amp;nbsp;We then demonstrate the proposed approach in the design of a 3D 5-link biped across several different design objectives.</style></abstract></record></records></xml>