In this paper, we propose a Fused Two-Level (FTL) branch predictor combined with an Ahead Calculation method. The FTL predictor is derived from the fusion hybrid predictor. It achieves high accuracy by adopting PAp-base Geometrical History Length (p-GEHL) prediction, which is an effective prediction scheme exploiting local histories. The p-GEHL predictor has several prediction tables indexed fr...

Generally, it is claimed that hexapod walking robots are superior to others. However, in some conditions hexapod suffers from stability problems. To solve the problem of stability, this paper proposes a new gait model of hexapod robot named offset model and also investigates the effects of morphological factor of hexapod robots on their locomotion. A comparison between the offset model and gene...