Abstract-This paper presents the design principles for highly efficient legged robots, the implementation of the principles in the design of the MIT Cheetah, and the analysis of the high-speed trotting experimental results. The design principles were derived by analyzing three major energy-loss mechanisms in locomotion: heat losses from the actuators, friction losses in transmission, and the interaction losses caused by the interface between the system and the environment. Four design principles that minimize these losses are discussed: employment of high torque density motors, energy regenerative electronic system, low loss transmission, and a low leg inertia. These principles were implemented in the design of the MIT Cheetah; the major design features are large gap diameter motors, regenerative electric motor drivers, single-stage low gear transmission, dual coaxial motors with composite legs, and the differential actuated spine. The experimental results of fast trotting are presented; the 33kg robot runs at 22 km/h (6 m/s). The total power consumption from the battery pack was 973 watts and resulted in a total cost of transport of 0.5, which rivals running animals' at the same scale. The 76% of total energy consumption is attributed to heat loss from the motor, and the 24% is used in mechanical work, which is dissipated as interaction loss as well as friction losses at the joint and transmission.
DSP architectures typically provide indirect addressing modes with autoincrement and decrement. In addition, indexing mode is generally not available, and there are usually few, if any, general-purpose registers. Hence, it is necessary to use address registers and perform address arithmetic to access automatic variables. Subsuming the address arithmetic into autoincrement and decrement modes improves the size of the generated code. In this article we present a formulation of the problem of optimal storage assignment such that explicit instructions for address arithmetic are minimized. We prove that for the case of a single address register the decision problem is NP-complete, even for a single basic block. We then generalize the problem to multiple address registers. For both cases heuristic algorithms are given, and experimental results are presented.
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