Three typos in the printed proceedings have been corrected in the online
version as of 11/5/96.

The first two errors are both on page 144.  At the bottom of the
left column, in the paragraph beginning ``Remember that...'',
the proceedings version says

			 -1
    "where A lambda = J M  k  "		[wrong]
			    i

This should be

			   -1
    "where A lambda = - J M  k  "
			      i


The second error is in step 5.  The printed version says

                                  ext
	"A lambda = - J W (K u + F   + cvec)  "	    [wrong]

This should really be

                                  ext
	"A lambda = - (J W (K u + F  ) + cvec)  "


Thanks to Larry Edwards, of Stanford's Mech E department, for pointing
these out.

A third typo is on page 141, left column, middle of the page.
The summation equation for A   should have the inverse of M in the equation.
			    ij				   k
Again, this is now correct in the online version.