In this paper, we present a new method for robot programming: view-based teaching/playback. It was developed to achieve more robustness to changes of task conditions than conventional teaching/playback without losing its general versatility.
The vertebrate body plan follows stereotypical dorsal-ventral (D-V) tissue differentiation controlled by bone morphogenetic proteins (BMPs) and secreted BMP antagonists, such as Chordin. The three germ layers--ectoderm, mesoderm, and endoderm--are affected coordinately by the Chordin-BMP morphogen system. However, extracellular morphogen gradients of… (More)
The ancestral Chordin/bone morphogenetic protein (BMP) signaling pathway that establishes dorsal-ventral (D-V) patterning in animal development is one of the best understood morphogenetic gradients, and is established by multiple proteins that interact with each other in the extracellular space-including several BMPs, Chordin, Tolloid, Ont-1,… (More)
Previously, we identified Fgfr2 as the major Fgf receptor in liver specification. Expression of Hhex in the liver was reduced in Fgfr2 morphants. Unexpectedly, we found the relative position of the liver and pancreas were disrupted. In addition to vis-ceral organs, we found the heart was randomized in Fgfr2 morphants. Expression patterns of genes… (More)