{"id":"https://openalex.org/W2068974848","doi":"https://doi.org/10.1109/biorob.2014.6913881","title":"Experimental verification of cusp catastrophe in the gait transition of a quadruped robot driven by nonlinear oscillators with phase resetting","display_name":"Experimental verification of cusp catastrophe in the gait transition of a quadruped robot driven by nonlinear oscillators with phase resetting","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W2068974848","doi":"https://doi.org/10.1109/biorob.2014.6913881","mag":"2068974848"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2014.6913881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2014.6913881","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061965744","display_name":"Shinya Aoi","orcid":"https://orcid.org/0000-0001-9243-2641"},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]},{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Shinya Aoi","raw_affiliation_strings":["Dept. of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan","JST, CREST, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]},{"raw_affiliation_string":"JST, CREST, Tokyo, Japan","institution_ids":["https://openalex.org/I4210086780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100713665","display_name":"Takahiro Tanaka","orcid":"https://orcid.org/0000-0001-8406-5183"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Tanaka","raw_affiliation_strings":["Dept. of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014497453","display_name":"Soichiro Fujiki","orcid":"https://orcid.org/0000-0002-3307-321X"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Soichiro Fujiki","raw_affiliation_strings":["Dept. of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024169373","display_name":"Kei Senda","orcid":"https://orcid.org/0000-0001-5720-6155"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Senda","raw_affiliation_strings":["Dept. of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109336779","display_name":"Kazuo Tsuchiya","orcid":null},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]},{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuo Tsuchiya","raw_affiliation_strings":["Dept. of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan","JST, CREST, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]},{"raw_affiliation_string":"JST, CREST, Tokyo, Japan","institution_ids":["https://openalex.org/I4210086780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5061965744"],"corresponding_institution_ids":["https://openalex.org/I22299242","https://openalex.org/I4210086780"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11457094,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"56","issue":null,"first_page":"825","last_page":"830"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11228","display_name":"Bat Biology and Ecology Studies","score":0.9818999767303467,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9686999917030334,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cusp","display_name":"Cusp (singularity)","score":0.7382851839065552},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7166262865066528},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.682458221912384},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6789484024047852},{"id":"https://openalex.org/keywords/catastrophe-theory","display_name":"Catastrophe theory","score":0.534453272819519},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5193334817886353},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5122753977775574},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4923797845840454},{"id":"https://openalex.org/keywords/bifurcation","display_name":"Bifurcation","score":0.4819200336933136},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44415390491485596},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.43072694540023804},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2806878089904785},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2750958800315857},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18943306803703308},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16975906491279602},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1422276794910431},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.07083317637443542},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06071430444717407}],"concepts":[{"id":"https://openalex.org/C2778400075","wikidata":"https://www.wikidata.org/wiki/Q655275","display_name":"Cusp (singularity)","level":2,"score":0.7382851839065552},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7166262865066528},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.682458221912384},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6789484024047852},{"id":"https://openalex.org/C33474566","wikidata":"https://www.wikidata.org/wiki/Q1345659","display_name":"Catastrophe theory","level":2,"score":0.534453272819519},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5193334817886353},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5122753977775574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4923797845840454},{"id":"https://openalex.org/C2781349735","wikidata":"https://www.wikidata.org/wiki/Q4904824","display_name":"Bifurcation","level":3,"score":0.4819200336933136},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44415390491485596},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.43072694540023804},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2806878089904785},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2750958800315857},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18943306803703308},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16975906491279602},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1422276794910431},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.07083317637443542},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06071430444717407},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2014.6913881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2014.6913881","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W211269454","https://openalex.org/W1538222263","https://openalex.org/W1824798508","https://openalex.org/W1876456565","https://openalex.org/W1954101473","https://openalex.org/W1977757771","https://openalex.org/W1982491982","https://openalex.org/W1983217982","https://openalex.org/W1984156164","https://openalex.org/W1984264982","https://openalex.org/W1984823684","https://openalex.org/W1986254472","https://openalex.org/W1988274707","https://openalex.org/W1992441465","https://openalex.org/W1995837155","https://openalex.org/W1996828753","https://openalex.org/W2004140052","https://openalex.org/W2029030701","https://openalex.org/W2040495451","https://openalex.org/W2045391660","https://openalex.org/W2046323934","https://openalex.org/W2048963734","https://openalex.org/W2054186704","https://openalex.org/W2076311674","https://openalex.org/W2082275030","https://openalex.org/W2090373601","https://openalex.org/W2098927060","https://openalex.org/W2099312786","https://openalex.org/W2099600411","https://openalex.org/W2107254323","https://openalex.org/W2116432529","https://openalex.org/W2126918678","https://openalex.org/W2143314240","https://openalex.org/W2151130840","https://openalex.org/W2155307968","https://openalex.org/W2155732403","https://openalex.org/W2156174987","https://openalex.org/W2156739306","https://openalex.org/W2478562489","https://openalex.org/W2594037017","https://openalex.org/W4249937648"],"related_works":["https://openalex.org/W3150079075","https://openalex.org/W1996212993","https://openalex.org/W2157845730","https://openalex.org/W4230073864","https://openalex.org/W1994511841","https://openalex.org/W2792101751","https://openalex.org/W2072628413","https://openalex.org/W2385092741","https://openalex.org/W2066632192","https://openalex.org/W3107874942"],"abstract_inverted_index":{"In":[0,66],"this":[1],"paper,":[2],"we":[3],"investigated":[4],"the":[5,9,25,33,40,53,57,79,86,92,106,110,115,120,130,134,138,146],"dynamic":[6,103,127],"characteristics":[7,128],"in":[8,42,52,129,137,145],"gait":[10,135],"of":[11,28,36,119,133,140],"a":[12,74,151],"quadruped":[13,75,142,152],"robot,":[14],"which":[15],"is":[16,47,123],"controlled":[17],"by":[18,149],"an":[19],"oscillator":[20,111],"network":[21,112],"constructed":[22],"based":[23],"on":[24,85],"physiological":[26,34],"concept":[27],"central":[29],"pattern":[30],"generators":[31],"and":[32,60,81,89,114],"evidence":[35],"phase":[37],"resetting.":[38],"From":[39],"observation":[41],"humans,":[43],"two-parameter":[44],"cusp":[45,93,131],"catastrophe":[46,132],"suggested":[48],"to":[49,96,100,124],"be":[50],"embedded":[51],"walk-run":[54],"transition":[55,136],"with":[56],"locomotion":[58,87,139],"speed":[59,88],"additional":[61,97],"load":[62],"as":[63],"control":[64],"parameters.":[65],"our":[67,141],"previous":[68],"work,":[69],"simulation":[70],"studies":[71],"revealed":[72],"that":[73],"robot":[76,143],"model":[77,144],"produces":[78],"walking":[80],"trotting":[82],"gaits":[83],"depending":[84],"it":[90],"shows":[91],"bifurcation":[94],"due":[95],"weights":[98],"similar":[99],"humans":[101],"through":[102],"interactions":[104],"among":[105],"robot's":[107],"mechanical":[108],"system,":[109,113],"environment.":[116],"The":[117],"aim":[118],"present":[121],"study":[122],"verify":[125],"such":[126],"real":[147],"world":[148],"using":[150],"robot.":[153]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
