Errata

This page lists known errors and misspellings from the publications.

Transactions on Robotics: Kinematic Motion Model for Jumping Scout Robots

Some problems occurred during the final production of the paper, due to the final conversion in XML.

• The markup of the quantities d_body, r_body, c_spring, r_spring, t_peak, and z_peak is consistently wrong in the text (but correct in the figures).
• The correct sentence in the footnote is: "This paper was presented in part at the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, R.O.C., September 2003."
• p. 399, column 2, first equation: The vector should be vertically centered with the last line.
• p. 399, column 2, just after equation 3: The correct expression is: tan γ = (t_z - r_spring + r_body)/t_y.
• p. 401, equations (6) and (7): The commas and the period in-between the value and the case description should be removed.
• The correct reference [5] is: MTS Systems Corp., Eden Prairie, MN, DARPA Scout Assy, Jun. 2000.

Dissertation: Vision-based Control of Miniature Jumping Scout Robots

• p. 9, Section 2.2, paragraph 2, sentence 2: The fragment "that the the wheels" should have one fewer "the".
• p. 12, Section 2.3, last sentence: Space missing between "Sapiro" and "et al.".
• p. 25, Section 3.1.5, paragraph 2, sentence 4: Replace "a reduced" with "an increased".
• p. 32, Equation (3.13): z should be x_z.
• p. 62, sentences 2 and 3: Replace with "It moves forward with medium speed, turns right, and moves forward with high speed. The turn starts 3 s into the run and lasts for about 1.5 s as Figure 47(c) illustrates."
• p. 63, Figure 47(c): The data were incorrectly transformed. This is the corrected figure:
  You can also download a PDF version.
• p. 64, Figure 48(c): The data were incorrectly transformed. This is the corrected figure:
  You can also download a PDF version.
• p. 75: The 5th point of the numbered list should end with a comma instead of a period.