Tissue engineering has been developed with the ultimate aim of manufacturing human organs, but success has been limited to only thin tissues and tissues with no significant structures. In order to construct more complicated tissues, we have developed a three-dimensional (3D) fabrication technology in which 3D structures are directly built up by layer-by-layer printing with living cells and several tissue components. We developed a custom-made inkjet printer specially designed for this purpose. Recently, this printer was improved, and the on-demand printing mode was developed and installed to fabricate further complicated structures. As a result of this version, 3D layer-by-layer printing based on complicated image data has become possible, and several 2D and 3D structures with more complexity than before were successfully fabricated. The effectiveness of the on-demand printing mode in the fabrication of complicated 3D tissue structures was confirmed. As complicated 3D structures are essential for biofunctional tissues, inkjet 3D biofabrication has great potential for engineering complicated bio-functional tissues.
In this paper, a
new application of the ZMP (Zero Moment Point) control law
is presented. The objective of this control method is to
obtain a smooth and soft motion based on a real-time
control. In the controller, the ZMP is treated as an
actuating signal. The coordinates of the robot body are fed
back to obtain its position. The proposed control method was
applied on two different biped robots, and its validity is
verified experimentally.
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