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For autonomous legged robots to be deployed in practical scenarios, they need to perform perception, motion planning, and locomotion control. Since robots have limited computing capabilities, it is important to realize locomotion control with simple controllers that have modest calculations. The goal of this paper is to create computational simple controllers for locomotion control that can free up computational resources for more demanding computational tasks, such as perception and motion planning. The controller consists of a leg scheduler for sequencing a trot gait with a fixed step time; a reference trajectory generator for the feet in the Cartesian space, which is then mapped to the joint space using an analytical inverse; and a joint controller using a combination of feedforward torques based on static equilibrium and feedback torque. The resulting controller enables velocity command following in the forward, sideways, and turning directions. With these three velocity command following-modes, a waypoint tracking controller is developed that can track a curve in global coordinates using feedback linearization. The command following and waypoint tracking controllers are demonstrated in simulation and on hardware. 

Mitochondria are major sources of reactive oxygen species (ROS), which play important roles in both physiological and pathological processes. However, the specific contributions of different ROS production and scavenging components in the mitochondria of metabolically active tissues such as heart and kidney cortex and outer medulla (OM) are not well understood. Therefore, the goal of this study was to determine contributions of different ROS production and scavenging components and provide detailed comparisons of mitochondrial respiration, bioenergetics, ROS emission between the heart and kidney cortex and OM using tissues obtained from the same Sprague-Dawley rat under identical conditions and perturbations. Specifically, data were obtained using both NADH-linked substrate pyruvate + malate and FADH2-linked substrate succinate followed by additions of inhibitors of different components of the electron transport chain (ETC) and oxidative phosphorylation (OxPhos) and other ROS production and scavenging systems. Currently, there is limited data available for the mitochondria of kidney cortex and OM, the two major energy-consuming tissues in the body only next to the heart, and scarce quantitative information on the interplay between mitochondrial ROS production and scavenging systems in the three tissues. The findings from this study demonstrate significant differences in mitochondrial respiratory and bioenergetic functions and ROS emission among the three tissues. The results quantify the rates of ROS production from different complexes of the ETC, identify the complexes responsible for variations in mitochondrial membrane depolarization and regulations of ROS production, and quantify the contributions of ROS scavenging enzymes towards overall mitochondrial ROS emission. These findings advance our fundamental knowledge of tissue-specific and substrate-dependent mitochondrial respiratory and bioenergetic functions and ROS emission. This is important given the critical role that excess ROS production, oxidative stress, and mitochondrial dysfunction in the heart and kidney cortex and OM play in the pathogenesis of cardiovascular and renal diseases, including salt-sensitive hypertension. Keywords: Forward and reverse electron transfer; Mitochondrial metabolism; NADPH oxidase; Oxidative stress; ROS emission; ROS production and scavenging; Respiration and bioenergetics.