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We have developed the biped walking robot "MARI-1". The robot has light weight and 6 joints on each leg and all control calculation is done with a DSP. The walking pattern is made from the tip position and direction references in the X-Y-Z domain and those references are transformed into joint angle references by the inverse kinematics calculation. The position control of each joint is done...
Either active or passive smoking has been reported as a risk factor for coronary heart disease. Several studies showed decreased plasma ascorbic acid (AA) in smokers. We examined plasma AA levels and its redox status (ratio of dehydroascorbate (DHA) to total AA) in smokers and nonsmokers regularly exposed to environmental cigarette smoke (passive smokers). The study population consisted of 55 healthy...
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