Figure 1: PMP network for the iCub humanoid robot that carries out the Functional Reach Test (FRT). and are the 3-dimensional position vectors of the final and moving targets, respectively; is the position of the hand; is the position of the CoM; is the 5-dimensional joint rotation vector (ankle, knee, hip, shoulder, elbow). is the 3 × 5 Jacobian matrix of the whole kinematic chain, used by the focal sub-network; is the 3 × 3 Jacobian matrix of the partial kinematic chain (from ankle to hip) which is used by the postural subnetwork. , are the force field generators of the two subnetworks; , are the corresponding force fields; , are the related torque fields. is the 5 × 5, diagonal admittance matrix. is the temporal coordination function.