Background-We investigated whether catheter-based, intramyocardial transplantation of autologous endothelial progenitor cells can enhance neovascularization in myocardial ischemia. Methods and Results-Myocardial ischemia was induced by placement of an ameroid constrictor around swine left circumflex artery. Four weeks after constrictor placement, CD31ϩ mononuclear cells (MNCs) were freshly isolated from the peripheral blood of each animal. After overnight incubation of CD31ϩ MNCs in noncoated plates, nonadhesive cells (NA/CD31ϩ MNCs) were harvested as the endothelial progenitor cell-enriched fraction. Nonadhesive CD31Ϫ cells (NA/CD31Ϫ MNCs) were also prepared. Autologous transplantation of 10 7 NA/CD31ϩ MNCs, 10
Abstract:The authors have focused on the bipedal humanoid robot expected to play an active role in human living space, through studies on an anthropomorphic biped walking robot. As the first stage of developing a bipedal humanoid robot, the authors developed the human-size 35 active DOF bipedal humanoid robot "WABIAN" and the human-size 41 active DOF bipedal humanoid robot " WABIAN-R". The authors also proposed a basic control method of whole body cooperative dynamic biped walking that uses trunk or trunk-waist cooperative motion to compensate for three-axis (pitch, roll and yaw-axis) moment generated not only by the motion of the lower-limbs planned arbitrarily but by the time trajectory of the hands planned arbitrarily. Using these systems and the control method, normal biped walking cforward and backward), dynamic dance waving arms and hip, dynamic carrying of a load using its arms, and trunk-waist cooperative dynamic walking are achieved.
Development of a Biped Walking RobotCompensating for Three-Axis
Moment by Trunk MotionJin-ichi YAMAGUCHI Atsuo TAKANISHI Ichiro KATOWe have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking, robot which has a trunk.In this paper, we introduce a control method of dynamic biped walking stabilized by trunk motion compensating for the three-axis moment on an arbitrary planned ZMP. We developed a biped walking robot WL-12 RV (Waseda Leg-12 Refined V)and perfomed a walking experiment with WL-12 RV using the control method.As a result, we realized fast dynamic biped walking (walking speed 0.54 s/step and step length 0.3 m) on a flat floor.This walking speed is about 50 percent faster than that with WL-12 (Waseda Leg-12) which compensates for only the two-axis (pitch-axis and roll-axis) moment by trunk motion.
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