Experimental verification of hysteresis in gait transition of a quadruped robot driven by nonlinear oscillators with phase resetting. - Shinya Aoi; Soichiro Fujiki; Daiki Katayama; Tsuyoshi Yamashita; Takehisa Kohda; Kei Senda; Kazuo Tsuchiya (IROS, 2011)

Cusp catastrophe embedded in gait transition of a quadruped robot driven by nonlinear oscillators with phase resetting. - Shinya Aoi; Daiki Katayama; Soichiro Fujiki; Takehisa Kohda; Kei Senda; Kazuo Tsuchiya (ROBIO, 2012)