We present a graph coloring register allocator which uses an improved form of passive live range splitting to reduce the count of dynamic spill operations. Program structure is used to guide the global splitting of live ranges and to place split operations at infrequently executed portions of the program. We also optimistically reconsider spill decisions at certain points to potentially enable ...

Currently, many bipedal robots have been proposed to realize the high energy efficiency walking. The control input isn’t required for the passive dynamic walking. Generally, a foot of passive dynamic walking robot is an arc foot. In this paper, it is intended to establish a control method and control mechanism to achieve the energy efficient and the stable gait. Therefore, we developed 3D quasi...

Why is walking easy for us and difficult for robots? The conceptual framework of traditional Artificial Intelligence, and constraints from the background of industrial robot designers, means that commercial humanoid design has often ignored the role of natural dynamics of a mechanical system, as illustrated in a Passive Dynamic Walker. We show, using a Dynamical Systems approach and Evolutionar...

1 Motivation and State of the Art The compass-gait biped and simplest walking model [1,2] have been useful as tools that abstract away the details of a specific walker, allowing the study of properties of the passive nonlinear dynamics. Similarly, the two-link brachiator of Gomes and Ruina [3] has demonstrated that energy-efficient brachiation is possible, i.e., “walking under the surface” (Fig...

When conducting a dynamic simulation of a multibody mechanical system, the model definition may need to be altered during the simulation course due to, e.g., changes in the way the system interacts with external objects. In this paper, we propose a general procedure for modifying simulation models of articulated figures, particularly useful when dealing with systems in time-varying contact with...

The passive dynamic walker (PDW) has an interesting characteristic that it realizes cyclic locomotion without planning joint trajectories. On the other hand, the walking behavior cannot be controlled because it is dominated by the fixed body dynamics. Observing the human cyclic locomotion that is activated by elastic muscles, we adopt a compliant hip joint on PDW, and we propose the ”phasic dyn...

Humans demonstrate speed, efficiency, and adaptability when traveling over rugged terrain. Bipedal robots modeled on biological designs could replace or assist people working in difficult environments. However, current research into humanoid robots has not produced practical machines. This paper explores the use of evolutionary robotics to evolve a simulation of a ten-degree of freedom bipedal ...

This paper describes the navigational control scheme used in the CO-Operative Locomotion Aide (COOL Aide), an intelligent walker designed to assist the elderly or the disabled with normal, and routine walking tasks. Navigation is achieved through a shared control architecture that recognizes the goals of both the human user and the walker. The control system is based on a synthesis of heuristic...

This article presents a few different methods to present a passive walker model in Adams MD R3 software and compares their simulation results to a walker model built in Matlab software. The discontinuous Matlab simulator applies manually entered mathematical equations to describe system dynamics while the Adams simulation software creates the dynamic models automatically. In the Adams simulator...