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Navigation Strategy for a Quadruped Robot on Soft Flat Ground
Masaaki Ikeda,Kiyotaka Izumi,Keigo Watanabe 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
Tasks important for a mobile robot are the environmental recognition and the obstacle avoidance in the real world. The legged robot can be adapted for rough terrains. It is because the legged robot has a high degree of freedom in order to avoid an obstacle to three dimensions. In this paper, we propose a locomotion strategy on the terrain with stiffness which is different in each. The propriety of a continuation walk is determined by the force sensor mounted to the bottom of each leg of a quadruped robot. The effectiveness of the proposal approach is verified from the result of the experiment which uses the prevalent quadruped robot called TITAN-VIII.
( Kunihiro Hayakawa ),( Keigo Ikeda ),( Maki Fujishiro ),( Yuko Yoshida ),( Takuya Hirai ),( Hiroshi Tsushima ),( Tomoko Miyashita ),( Shinji Morimoto ),( Yasushi Suga ),( Kenji Takamori ),( Hideoki O 대한피부과학회 2018 Annals of Dermatology Vol.30 No.1
Background: Connective tissue growth factor (CTGF) is a multifunctional cellular protein and playing a role as a central mediator in tissue remodeling and fibrosis. The physiological function of CTGF in psoriasis is unknown. Objective: The purpose of this study was to investigate the function of CTGF in psoriasis using the established imiquimod (IMQ)- induced psoriasis murine model and psoriasis patients. Methods: Anti-CTGF monoclonal antibody was applied to IMQ induced psoriasis mice and those skin were clinically, pathologically and immunologically analyzed. Additionally, CTGF expression was analyzes using skin samples and plasma from psoriasis patients. Results: CTGF expression was observed in the dermis from both IMQ-induced psoriatic mice and psoriasis patients. CTGF inhibition using an anti-CTGF antibody slightly worsened IMQ-induced dermatitis. In addition, the increase of CTGF showed tendency to suppress the psoriatic dermatitis through inhibition of suprabasal cells proliferation and macrophage infiltration in the skin. CTGF was also detected significantly higher in plasma from psoriasis patients comparing with healthy control. Conclusion: Our findings suggest that CTGF could contribute to the healing rather than the worsening of psoriasis skin lesions. (Ann Dermatol 30(1) 47∼53, 2018)