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HOTAIR is a long intervening non-coding RNA (lincRNA) that associates with the Polycomb Repressive Complex 2 (PRC2) and overexpression is correlated with poor survival for breast, colon and liver cancer patients. In this study, we show that HOTAIR expression is increased in pancreatic tumors compared with non-tumor tissue and is associated with more(More)
A new approach for climbing hard vertical surfaces has been developed that allows a robot to scale concrete, stucco, brick and masonry walls without using suction or adhesives. The approach is inspired by the mechanisms observed in some climbing insects and spiders and involves arrays of microspines that catch on surface asperities. The arrays are located(More)
Stickybot is a bioinspired robot that climbs smooth vertical surfaces such as glass, plastic, and ceramic tile at 4 cm/s. The robot employs several design principles adapted from the gecko including a hierarchy of compliant structures, directional adhesion, and control of tangential contact forces to achieve control of adhesion. We describe the design and(More)
High speed legged locomotion involves high acceleration and extensive loadings of the leg, which impose critical challenges in actuator design. We introduce actuator dimensional analysis for maximizing torque density and transmission `transparency'. A front leg prototype developed based on insight from the analysis is evaluated for direct proprioceptive(More)
In this paper, we introduce the design principles for highly efficient legged robots and the implementation of the principles on the MIT Cheetah robot. Three major energy loss modes during locomotion are heat losses through the actuators, losses through the transmission, and the interaction losses that includes all losses of the system interacting with the(More)
-A new climbing robot has been developed that can scale flat, hard vertical surfaces including concrete, brick, stucco and masonry without using suction or adhesives. The robot can carry a payload equal to its own weight and can cling without consuming power. It employs arrays of miniature spines that catch opportunistically on surface asperities. The(More)
Animals exploit soft structures to move effectively in complex natural environments. These capabilities have inspired robotic engineers to incorporate soft technologies into their designs. The goal is to endow robots with new, bioinspired capabilities that permit adaptive, flexible interactions with unpredictable environments. Here, we review emerging(More)
High-speed terrestrial locomotion inevitably involves high acceleration and extensive loadings on the legs. This imposes a challenging trade-off between weight and strength in leg design. This paper introduces a new design paradigm for a robotic leg inspired by musculoskeletal structures. The central hypothesis is that employing a tendon-bone co-location(More)
Swing-leg retraction was introduced as a way to improve the stability and disturbance rejection of running robots. It was also suggested that the reduced foot speed due to swing-leg retraction can help reduce impact energy losses, decrease peak forces, and minimize foot slipping. However, the extent to which swing-leg retraction rate influences all these(More)
This paper introduces a new mechanism for achieving tunable stiffness, named layer jamming, and presents a hollow snake-like manipulator having tunable stiffness capability. The layer jamming mechanism is composed of multiple layers of thin Mylar film, and makes use of amplified friction between the films by applying vacuum pressure. In contrast to other(More)