Abstract: A walk controller (30) for a biped (two-footed) walking mobile system, which drive-controls each joint drive motor (15L, 15R-20L, 20R) of each leg portion (13L, 13R) of a biped walking mobile system based on gait data, includes a force detector (23L, 23R) to detect the force allied to a sole of each foot portion (14L, 14R), and a compensator (32) to modify the gait data from a gait former (24) based on the force detected by a force detector, and is constituted so that each force detector (23L, 23R) comprises at least three 3-axial force sensors (36a, 36b, 36c) allocated on a sole of each foot portion (14L, 14R), and a compensator (32) modifies gait data based on the detected signals from three 3-axial force sensors (36a, 36b, 36c) which detect effective force, thereby the walk stability of a robot is realized, even on the unstable road surface condition with complex roughness.

Abstract: The present invention provides a biped walking mobile apparatus, its walk controller, and walk controlling strategy therefor, which are to realize walk stability even under the road surface condition where the foot stance is unstable, for example, such as wet floor, ice, mud, or the carpet of long hair, or when only a part contacts with the floor surface due, for example, to its roughness.

Abstract: The present invention provides a biped (two-footed) walking mobile system, its walk controller, and walk control method therefore, which are to realize enhancing an walk stability, as well as a consumed energy saving. A walk controller (30) of a biped walking mobile system forms a gait data by a gait forming part (33) based on parameters from a gait stabilizing part (32), and drive-controls drive means of respective joint portions (15L, 15R-20L, 20R) of each leg portion based on said gait data. In this case, the walk controller (30) is so constituted as to selectively witch a powered mode to conduct ordinary drive-control and a passive mode to drive-control the drive means similarly with passive joints, whereby drive-controlling respective joint portions.

Abstract: The present invention provides a biped (two-footed) walking humanoid robot easily capable of such full body movement as, for example, protective action when tumbling down, arising action and rolling action. The body part (11) is configured with a waist part (11b) below, a breast part (11a) attached biaxially movably to said waist part, and a drive means (11d, 11e) to move said breast part biaxially, and a controller (50) makes full body movement performed by drive controlling each drive means in mutual coordination. A walk controller (50) drive controls each drive means in mutual coordination, whereby moving the breast part (11a) biaxially with respect to the waist part (11b), namely moving longitudinally or rotating horizontally, and thus makes it possible to move totally the upper part configured with the breast part and arm parts with respect to the lower part configured with the waist part (11b) and leg parts (12) by so-called stoop forward and twisting of a waist.

Abstract: There are provided compounds which can be used in the treatment of diseases mediated by the autophosphorylation of a PDGF receptor, specifically, compounds which can inhibit neointima formation hypertrophy.

Abstract: A biped walking humanoid robot is disclosed having an arrangement whereby shocks acting on various parts of the robot when it falls can be relieved and its state of fall can then be detected.

Abstract: Disclosed is a biped walking mobile system or apparatus, typically a biped walking robot, which achieves walk stability without altering a preestablished gait, namely path of movement for each of joint region, as well as a walk controller and a work control method therefor.