Dynamically Stable Legged Locomotion (September 1985-Septembers1989)

This report documents our work in exploring active balance for dynamic legged systems for the period from September 1985 through September 1989. The purpose of this research is to build a foundation of knowledge that can lead both to the construction of useful legged vehicles and to a better understanding of animal locomotion. In this report we focus on the control of biped locomotion, the use of terrain footholds, running at high speed, biped gymnastics, symmetry in running, and the mechanical design of articulated legs.

ADEPT: A Heuristic Program for Proving Theorems of Group Theory

A computer program, named ADEPT (A Distinctly Empirical Prover of Theorems), has been written which proves theorems taken from the abstract theory of groups. Its operation is basically heuristic, incorporating many of the techniques of the human mathematician in a "natural" way. This program has proved almost 100 theorems, as well as serving as a vehicle for testing and evaluating special-purpose heuristics. A detailed description of the program is supplemented by accounts of its performance on a number of theorems, thus providing many insights into the particular problems inherent in the design of a procedure capable of proving a variety of theorems from this domain. Suggestions have been formulated for further efforts along these lines, and comparisons with related work previously reported in the literature have been made.

Noise Reduction Using Low Weight and Constant Weight Coding Techniques

Signalling off-chip requires significant current. As a result, a chip's power-supply current changes drastically during certain output-bus transitions. These current fluctuations cause a voltage drop between the chip and circuit board due to the parasitic inductance of the power-supply package leads. Digital designers often go to great lengths to reduce this "transmitted" noise. Cray, for instance, carefully balances output signals using a technique called differential signalling to guarantee a chip has constant output current. Transmitted-noise reduction costs Cray a factor of two in output pins and wires. Coding achieves similar results at smaller costs.