1. A robotics platform comprising:
a processor;
a memory containing a whole body motion application;
a spine, where the spine has seven degrees of freedom and comprises a spine actuator and three spine elbow joints that each include two spine joint actuators;
at least one limb, where the at least one limb comprises a limb actuator and three limb elbow joints that each include two limb joint actuators;
a tracked base;
a connecting structure that connects the at least one limb to the spine;
a second connecting structure that connects the spine to the tracked base;
wherein the processor is configured by the whole body motion application to move the at least one limb and the spine to perform whole body motion.
2. A robotics platform of claim 1, further comprising a head, where the head comprises at least one sensor; and a third connecting structure connecting the head to the spine.
3. A robotics platform of claim 2, wherein in the at least one sensor is a light detection and ranging (LiDAR) system.
4. A robotics platform of claim 2, wherein the at least one sensor is a pair of stereo cameras.
5. A robotics platform of claim 1, wherein the three spine elbow joints have the same dimensions and construction.
6. A robotics platform of claim 1, wherein the three limb elbow joints have the same dimensions and construction.
7. A robotics platform of claim 1, wherein the three spine elbow joints and the three limb elbow joints have the same dimensions and construction.
8. A robotics platform of claim 1, wherein the at least one limb further comprises an end-effector.
9. A robotics platform of claim 8, wherein the end-effector is a hand assembly including a plurality of articulated fingers.
10. A robotics platform of claim 1, wherein the at least one limb further comprises a first limb and a second limb.
11. A robotics platform of claim 10, wherein the first limb further comprises a first end-effector and the second limb further comprises a second end-effector.
12. A robotics platform of claim 11, wherein a kinematic chain for the robotics platform can be evaluated by the processor using the following expression:
min \u2225{dot over (\u03b8)}\u22252,P\u03b8+\u2225VWEB\u2212{tilde over (V)}WEB\u22252,PE+\u2225VWCB\u2212{tilde over (V)}WCB\u22252,PC
where {dot over (\u03b8)} are joint angle velocities, VWEB is a base body velocity of the end-effector frame (E) in a world frame W, VWCB is a center of mass body velocity expressed in a base frame, PE is a weighting matrix of the end-effector, and P\u03b8 is a weighting matrix of a regularizer.
13. A robotics platform of claim 12, wherein the kinematic chain is subject to joint velocity, torque, and center of support constraints.
14. A robotics platform of claim 1 wherein performing whole body motion further comprises end-effector solving and path planning solving.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A compound according to Formula I
or a pharmaceutically acceptable salt thereof, wherein
Y\u2014X is CH2\u2014CH2, \u2014C(O)O\u2014 or \u2014CH2O\u2014
R2 is phenyl, (1-6C)alkyl, (2-8C)-heteroaryl, benzoyl, (2-8C)heteroarylcarbonyl, (1-8C)alkoxy, (3-6C)cycloalkyl, (3-6C)cycloalkoxy, all alkyl or alkoxy moieties of which may optionally be substituted with one or more substituents selected from R10 and the phenyl or heteroaryl moieties of which may optionally be substituted with one or more substituents selected from R12, or
R2 is (2-6C)alkenyl, (2-6C)alkynyl, (1-6C)alkylcarbonyl, (2-6C)alkenylcarbonyl, (2-6C)alkynylcarbonyl, (3-6C)cycloalkylcarbonyl, (3-6C)alkenoxy, (3-6C)cycloalkyl(1-4C)alkoxy, phenyl(1-4C)alkoxy or (2-8C)heteroaryl(1-4C)alkoxy;
R6 is hydroxy or H, or
R6 is (1-6C)alkyl, (2-6C)alkenyl, (2-6C)alkynyl, (1-4C)alkoxy, (3-6C)alkenoxy, (3-6C)cycloalkyl(1-4C)alkoxy, (3-6C)cycloalkoxy, (3-6C)heterocycloalkyl(1-4C)alkoxy, halogen, cyano, the alkyl or alkoxy moieties of which may optionally be substituted with one or more substituents selected from R10, or
R6 together with R7 is \u2014O\u2014(CH2)n\u2014O\u2014 in which n is 1-3 and in which the CH2 moiety may optionally be substituted by one or more (1-3C)alkyl substituents, or
R6 and R7 may be joined in a (3-6C)cycloalkyl ring;
R7 is hydroxy, H, or
R7 is (1-6C)alkyl, (2-6C)alkenyl, (2-6C)alkynyl, (1-4C)alkoxy, (3-6C)alkenoxy, (3-6C)cycloalkyl, (3-6C)cycloalkyl(1-4C)alkoxy, (3-6C)cycloalkoxy, (3-6C)heterocycloalkyl(1-4C)alkoxy, (3-6C)heterocycloalkoxy, (2-6C)heterocycloalkylcarbonyl, (di)1-4Calkylaminocarbonyl or (2-6C)heterocycloalkyl, the alkyl, alkoxy or (hetero)cycloalkyl moieties of which may optionally be substituted with one or more substituents selected from R11, or
R7 is (2-8C)heteroaryl, phenyl, phenyl(1-4C)alkoxy, (2-8C)heteroaryl(1-4C)alkoxy, the phenyl or heteroaryl moieties of which may optionally be substituted with one or more substituents selected from R11, or
R7 together with R6 is \u2014O\u2014(CH2)n\u2014O\u2014 in which n is 1-3 and in which the CH2 moiety may optionally be substituted by one or more (1-3C)alkyl substituents or
R7 and R6 may be joined in a (3-6C)cycloalkyl ring;
R8 is H or (1-4C)alkoxy;
R10 is hydroxy, amino, halogen, cyano, nitro, trifluoromethyl, (1-4C)alkoxy, (1-4C)alkyl, aminocarbonyl or (di)1-4Calkylamino;
R11 is hydroxy, amino, halogen, cyano, nitro, trifluoromethyl, (1-4C)alkoxy, (di)1-4C)alkylamino or (1-4C)alkyl;
R12 is hydroxy, amino, halogen, cyano, nitro, trifluoromethyl, (1-4C)alkoxy, (1-4C)alkyl, aminocarbonyl or (di)1-4Calkylamino;
R13 is H or (1-3C)alkyl;
R14 and R15 are independently H or (1-3C)alkyl, or
R14 and R15 may be joined in a (3-6C)cycloalkyl ring.
2. The compound according to claim 1 wherein
R2 is phenyl, (1-6C)alkyl, (2-8C)-heteroaryl, (1-8C)alkoxy, (3-6C)cycloalkoxy, all alkyl or alkoxy moieties of which may optionally be substituted with one or more substituents selected from R10 and the phenyl or heteroaryl moieties of which may optionally be substituted with one or more substituents selected from R12, or
R2 is (2-6C)alkenyl, (3-6C)alkenoxy, (3-6C)cycloalkyl(1-4C)alkoxy, phenyl(1-4C)alkoxy or (2-8C)heteroaryl(1-4C)alkoxy;
3. The compound according to claim 2 wherein R13, R14 and R15 is H.
4. The compound according to claim 3 wherein n, if R6 is combined with R7 is 1.
5. The compound according to claim 4 wherein R2 is phenyl, (1-6C)alkyl, (2-8C)-heteroaryl, (1-8C)alkoxy, (3-6C)cycloalkoxy, all alkyl or alkoxy moieties of which may optionally be substituted with one or more substituents selected from R10 and the phenyl or heteroaryl moieties of which may optionally be substituted with one or more substituents selected from R12, or
R2 is (2-6C)alkenyl, (3-6C)alkenoxy, (3-6C)cycloalkyl(1-4C)alkoxy or phenyl(1-4C)alkoxy.
6. The compound according to claim 3 wherein
R6 is hydroxy, halogen, cyano or H, or
R6 is (1-4C)alkoxy, (3-6C)alkenoxy, the alkyl or alkoxy moieties of which may optionally be substituted with one or more substituents selected from R10, or
R6 together with R7 is \u2014O\u2014(CH2)\u2014O\u2014 in which the CH2 moiety may optionally be substituted by one or more (1-3C)alkyl substituents;
R7 is hydroxy, or
R7 is (1-4C)alkoxy, (3-6C)alkenoxy, (3-6C)cycloalkyl(1-4C)alkoxy, (2-6C)heterocycloalkylcarbonyl, (di)1-4Calkylaminocarbonyl or (2-6C)heterocycloalkyl, the alkyl, alkoxy or (hetero)cycloalkyl moieties of which may optionally be substituted with one or more substituents selected from R11, or
R7 is (2-8C)heteroaryl, or
R7 together with R6 is \u2014O\u2014(CH2)\u2014O\u2014 in which the CH2 moiety may optionally be substituted by one or more (1-3C)alkyl substituents.
7. The compound according to claim 4 wherein
R6 and R7 are independently (1-4C)alkoxy or (3-6C)alkenoxy, or
R6 together with R7 is \u2014O\u2014CH2\u2014O\u2014.
8. The compound according to claim 1 selected from the group of
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7,8-trimethoxy-2-phenyl-9,10-dihydrophenanthrene-3-carboxamide;
2-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7,8-trimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(2,3-difluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7,8-trimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7,8-trimethoxy-2-(thiophen-2-yl)-9,10-dihydrophenanthrene-3-carboxamide;
N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7,8-trimethoxy-2-(3-methylthiophen-2-yl)-9,10-dihydrophenanthrene-3-carboxamide;
N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7,8-trimethoxy-2-(2-methoxypyridin-3-yl)-9,10-dihydrophenanthrene-3-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-2-isopropoxy-6,7,8-trimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(cyclopropylmethoxy)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(cyclopentyloxy)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-2-(pentan-2-yloxy)-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(difluoromethoxy)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(1-cyanoethoxy)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(allyloxy)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(2-amino-1-fluoro-2-oxoethoxy)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-2-(2-methoxyethoxy)-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(benzyloxy)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(2-(dimethylamino)ethoxy)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(2,6-difluoro-4-hydroxyphenyl)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(4-amino-2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(3-fluoropyridin-4-yl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-2-(3-methylbut-2-en-2-yl)-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(5-chlorothiophen-2-yl)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(furan-2-yl)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-2-(3-methoxyphenyl)-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(3-carbamoylphenyl)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(4-(dimethylamino)phenyl)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
7-(allyloxy)-2-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6-methoxy-9,10-dihydrophenanthrene-3-carboxamide;
6-(allyloxy)-2-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-7-methoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(2-fluorophenyl)-7-hydroxy-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6-methoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(2-fluorophenyl)-6-hydroxy-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-7-methoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-6-bromo-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-2-isopropoxy-7-methoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-6-cyano-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-2-isopropoxy-7-methoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-3-isopropoxy-8,9-dimethoxy-6H-benzocchromene-2-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-3-isopropoxy-8,9-(1\u2032,3\u2032-dioxolo)-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-dimethoxy-6H-benzocchromene-2-carboxamide;
3-(2,3-difluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-dimethoxy-6H-benzocchromene-2-carboxamide;
3-(3,5-dimethyl-1H-pyrazol-4-yl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-dimethoxy-6H-benzocchromene-2-carboxamide;
N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-dimethoxy-3-(3-methylthiophen-2-yl)-6H-benzocchromene-2-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-dimethoxy-3-phenyl-6H-benzocchromene-2-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-dimethoxy-3-(2-methylprop-1-enyl)-6H-benzocchromene-2-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-3-isobutyl-8,9-dimethoxy-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8-isopropoxy-9-methoxy-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-8-hydroxy-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-8-(2-methoxyethoxy)-6H-benzocchromene-2-carboxamide;
8-(allyloxy)-3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8-(2-hydroxyethoxy)-9-methoxy-6H-benzocchromene-2-carboxamide;
8-(2-(dimethylamino)ethoxy)-3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-6H-benzocchromene-2-carboxamide;
8-(cyclopropylmethoxy)-3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-8-(pyridin-3-yl)-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-8-(1-methyl-1H-pyrazol-4-yl)-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-8-(pyridin-4-yl)-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8-(morpholine-4-carbonyl)-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N2-((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-N8,N8-dimethyl-6H-benzocchromene-2,8-dicarboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-(1\u2032,3\u2032-dioxolo)-6H-benzocchromene-2-carboxamide;
N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-(1\u2032,3\u2032-dioxolo)-3-(3-methylthiophen-2-yl)-6H-benzocchromene-2-carboxamide; and
N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-(1\u2032,3\u2032-dioxolo)-3-(3-isopropoxy)-6-oxo-6H-benzocchromene-2-carboxamide.
9. (canceled)
10. (canceled)
11. A pharmaceutical composition which comprises a compound of formula I according to any of claims 1 or a pharmaceutically acceptable salt thereof and one or more pharmaceutically acceptable excipients.
12. A pharmaceutical composition according to claim 11, which further comprises at least one additional therapeutically active agent.
13. A method of treating endometriosis, pre-menopausal and peri-menopausal hormone-dependent breast cancer, uterine fibroids, or other menstrual-related disorders, comprising administering a compound according to claim 1.
14. A method of contraception comprising administering a compound according to claim 1.