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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. 

A fundamental question in evolutionary biology is how genetic novelty arises. De novo gene birth is a recently recognized mechanism, but the evolutionary process and function of putative de novo genes remain largely obscure. With a clear life-saving function, the diverse antifreeze proteins of polar fishes are exemplary adaptive innovations and models for investigating new gene evolution. Here, we report clear evidence and a detailed molecular mechanism for the de novo formation of the northern gadid (codfish) antifreeze glycoprotein (AFGP) gene from a minimal noncoding sequence. We constructed genomic DNA libraries for AFGP-bearing and AFGP-lacking species across the gadid phylogeny and performed fine-scale comparative analyses of theAFGPgenomic loci and homologs. We identified the noncoding founder region and a nine-nucleotide (9-nt) element therein that supplied the codons for one Thr-Ala-Ala unit from which the extant repetitive AFGP-coding sequence (cds) arose through tandem duplications. The latent signal peptide (SP)-coding exons were fortuitous noncoding DNA sequence immediately upstream of the 9-nt element, which, when spliced, supplied a typical secretory signal. Through a 1-nt frameshift mutation, these two parts formed a single read-through open reading frame (ORF). It became functionalized when a putative translocation event conferred the essentialcispromoter for transcriptional initiation. We experimentally proved that all genic components of the extant gadidAFGPoriginated from entirely nongenic DNA. The gadidAFGPevolutionary process also represents a rare example of the proto-ORF model of de novo gene birth where a fully formed ORF existed before the regulatory element to activate transcription was acquired.