| http://www.w3.org/ns/prov#value | - position in the rest pose is denoted by x.sub.i.sup.0, its position in goal poses (i.e., the goal positions) by {circumflex over (x)}.sub.i(t), its dynamic position by x.sub.i(t) and its velocity by v.sub.i(t), where t .epsilon.[0,T] is time and T is the
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