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—Generating stable dynamic motions for a biped robot in real time is difficult due to the unstable nature of biped systems and their high degrees of freedom. We propose an approximate dynamics model for biped robots with three masses and no kinematic constraints. We also propose a relaxed boundary condition called " the divergent component of motion ".(More)
poor availability of the ground reaction force at the boundary of the flight and support phases. We propose methods to decompose and synthesize a running gait pattern into vertical, horizontal and rotational components so that time-dependent ground friction limits are satisfied. We also extend previously proposed boundary condition, the divergent component(More)
PURPOSE It has been reported that carvedilol, which has beta-adrenergic blocking and vasodilating activities, is mainly metabolized by UDP-glucuronosyltransferase (UGT) 1A1, UGT2B4, UGT2B7 and CYP2D6. The aim of this study was to determine whether the activity of glucuronidation has an influence on the area under the curve (AUC) of carvedilol and whether(More)
In our previous study it was observed that the frequencies of UGT1A1*6, UGT2B7*3 and CYP2D6*10 in patients who have a low level ability of glucuronidation were significantly higher than those in patients with a high level of ability of glucuronidation. The same tendency was found in the frequency of CYP2D6*5, though there was no significant difference. The(More)
Carvedilol, an alpha- and beta-adrenergic blocking drug, is mainly metabolized by CYP2D6, UGT1A1, UGT2B4 and UGT2B7. This drug is administered orally as a racemic mixture of R(+)- and S(-)-enantiomers. It has been reported that CYP2D6 prefers metabolizing S-carvedilol to R-carvedilol stereoselectively. On the other hand, stereoselective metabolism of(More)
Adult intestinal stem cells (ISCs) possess both a long-term proliferation ability and differentiation capability into enterocytes. As a novel in vitro system for the evaluation of drug absorption, we characterized a human small intestinal epithelial cell (HIEC) monolayer that differentiated from adult ISCs. Continuous proliferation/differentiation from ISCs(More)
A human small intestinal epithelial cell (HIEC) monolayer was recently established in our laboratories as a novel system to evaluate the Papp (apparent permeability coefficient) of compounds during their absorption in humans. An effusion-based analysis using polyethylene glycol oligomers with molecular weights ranging from 194-898 indicated that HIEC and(More)
force. We also propose an extended model ZMP control method which uses horizontal and rotational acceleration of the upper body and step duration change to generate moments to handle disturbances too large to be handled by ground reaction force control. Combining these techniques, robust biped running is achieved.
A controller for biped running has to consider varying vertical ground reaction force while satisfying the horizontal ground reaction force and moment limits. We propose a design technique for feedback gains to stabilize the upper body position under varying vertical ground reaction force. We also propose an extended model ZMP control method which uses(More)