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— The disturbance observer (DOB) has been widely utilized for high precision and high speed motion control applications. In this paper, we suggest the robustness measure of DOB, as a criterion to design the robust DOB systems. Also, we suggest its design guidelines especially for second-order systems. Experimental results for an optical disk drive system(More)
Giant swing via forward upward circling of the acrobat-robot, " Proc.lization of a class of underactuated mechanical systems via interconnection and damping assignment, " IEEE Trans. Abstract—This paper proposes the walking pattern generation method, the kinematic resolution method of center of mass (CoM) Jacobian with embedded motions, and the design(More)
— This paper proposes a method to accommodate multiple tasks for redundancy utilization, which is based on a specific weighted pseudo-inverse. The proposed method also has task priority imposition property as those conventional task priority based method. In order to deal with general situations of task specification, the so-called semi-definitely weighted(More)
— This paper proposes the walking pattern generation method, the kinematic resolution method of CoM(center of mass) Jacobian with an embedded motion, and the walking controller design method for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with(More)
Implanting materials in the body to program host immune cells is a promising alternative to transplantation of cells manipulated ex vivo to direct an immune response, but doing so requires a surgical procedure. Here we demonstrate that high-aspect-ratio, mesoporous silica rods (MSRs) injected with a needle spontaneously assemble in vivo to form macroporous(More)
Objective. Since oligodendrocyte progenitor cells (OPCs) are the target cells of neonatal hypoxic-ischemic encephalopathy (HIE), the present study was aimed at investigating the protective effects of N-acetyl-l-cysteine (NAC), a well-known antioxidant and precursor of glutathione, in OPCs as well as in neonatal rats. Methods. In in vitro study, protective(More)
—This paper proposes a new robotic manipulator using stack-able 4-BAR mechanisms for single port access (SPA) surgery where the operation is performed by inserting multiple manipulators through one small body cavity. The proposed manipulator has the advantage that all actuators are able to be separated from the driving mechanism. In other words, it is(More)