[Japanese]

Journal Articles

  1. S. Aoi, T. Tanaka, S. Fujiki, T. Funato, K. Senda, and K. Tsuchiya, "Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach", Scientific Reports, 6:30199, 2016.
  2. I. Obayashi, S. Aoi, K. Tsuchiya, and H. Kokubu, "Formation mechanism of a basin of attraction for passive dynamic walking induced by intrinsic hyperbolicity", Proceedings of the Royal Society A, 472(2190):20160028, 2016.
  3. T. Funato, Y. Yamamoto, S. Aoi, T. Imai, T. Aoyagi, N. Tomita, and K. Tsuchiya, "Evaluation of the phase-dependent rhythm control of human walking using phase response curves", PLoS Computational Biology, 12(5):e1004950, 2016.
  4. T. Funato, S. Aoi, N. Tomita, and K. Tsuchiya, "Smooth enlargement of human standing sway by instability due to weak reaction floor and noise", Royal Society Open Science, 3(1):150570, 2016.
  5. T. Kamimura, Y. Ambe, S. Aoi, and F. Matsuno, "Body flexibility effects on foot loading based on quadruped bounding models", Artificial Life and Robotics, 20(3):270-275, 2015.
  6. S. Fujiki, S. Aoi, T. Funato, N. Tomita, K. Senda, and K. Tsuchiya, "Adaptation mechanism of interlimb coordination in human split-belt treadmill walking through learning of foot contact timing: a robotics study", Journal of the Royal Society Interface, 12(110):20150542, 2015.
  7. M. Tanase, Y. Ambe, S. Aoi, and F. Matsuno, "A galloping quadruped model using left-right asymmetry in touchdown angles", Journal of Biomechanics, 48(12):3383-3389, 2015.
  8. I. Obayashi, S. Aoi, K. Tsuchiya, and H. Kokubu, "Common formation mechanism of basin of attraction for bipedal walking models by saddle hyperbolicity and hybrid dynamics", Japan Journal of Industrial and Applied Mathematics, 32(2):315-332, 2015.
  9. T. Funato, S. Aoi, N. Tomita, and K. Tsuchiya, "Validating the feedback control of intersegmental coordination by fluctuation analysis of disturbed walking", Experimental Brain Research, 233(5):1421-1432, 2015.
  10. S. Fujiki, S. Aoi, T. Funato, N. Tomita, K. Senda, and K. Tsuchiya, "Hysteresis in the metachronal-tripod gait transition of insects: A modeling study", Physical Review E, 88(1):012717, 2013.
  11. S. Fujiki, S. Aoi, T. Yamashita, T. Funato, N. Tomita, K. Senda, and K. Tsuchiya, "Adaptive splitbelt treadmill walking of a biped robot using nonlinear oscillators with phase resetting", Autonomous Robots, 35(1):15-26, 2013.
  12. S. Aoi, T. Kondo, N. Hayashi, D. Yanagihara, S. Aoki, H. Yamaura, N. Ogihara, T. Funato, N. Tomita, K. Senda, and K. Tsuchiya, "Contributions of phase resetting and interlimb coordination to the adaptive control of hindlimb obstacle avoidance during locomotion in rats: a simulation study", Biological Cybernetics, 107(2):201-216, 2013.
  13. S. Aoi, D. Katayama, S. Fujiki, N. Tomita, T. Funato, T. Yamashita, K. Senda, and K. Tsuchiya, "A stability-based mechanism for hysteresis in the walk-trot transition in quadruped locomotion", Journal of the Royal Society Interface, 10(81):20120908, 2013.
  14. S. Aoi, Y. Egi, and K. Tsuchiya, "Instability-based mechanism for body undulations in centipede locomotion", Physical Review E, 87(1):012717, 2013. (This paper has been featured in News & Views in Nature Physics by A. Klopper, "Biomechanics: Have legs will travel", Nature Physics, 9(3):134, 2013)
  15. S. Aoi, Y. Egi, R. Sugimoto, T. Yamashita, S. Fujiki, and K. Tsuchiya, "Functional roles of phase resetting in the gait transition of a biped robot from quadrupedal to bipedal locomotion", IEEE Transactions on Robotics, 28(6):1244-1259, 2012.
  16. S. Aoi, N. Ogihara, T. Funato, and K. Tsuchiya, "Sensory regulation of stance-to-swing transition in generation of adaptive human walking: A simulation study", Robotics and Autonomous Systems, Special Issue on Mobiligence: Intelligence for generating adaptive motor function, 60(5):685-691, 2012.
  17. S. Aoi, T. Yamashita, and K. Tsuchiya, "Hysteresis in the gait transition of a quadruped investigated using simple body mechanical and oscillator network models", Physical Review E, 83(6):061909, 2011. (This paper has been featured in Outside JEB in Journal of Experimental Biology by E. Tytell, "Changing gaits mechanically", Journal of Experimental Biology, 214(23):v-vi, 2011)
  18. N. Ogihara, S. Aoi, Y. Sugimoto, K. Tsuchiya, and M. Nakatsukasa, "Forward dynamic simulation of bipedal walking in the Japanese macaque: Investigation of causal relationships among limb kinematics, speed, and energetics of bipedal locomotion in a non-human primate", American Journal of Physical Anthropology, 145(4):568-580, 2011.
  19. S. Aoi and K. Tsuchiya, "Generation of bipedal walking through interactions among the robot dynamics, the oscillator dynamics, and the environment: Stability characteristics of a five-link planar biped robot", Autonomous Robots, 30(2):123-141, 2011.
  20. T. Funato, S. Aoi, H. Oshima, and K. Tsuchiya, "Variant and invariant patterns embedded in human locomotion through whole body kinematic coordination", Experimental Brain Research, 205(4):497-511, 2010.
  21. S. Aoi, N. Ogihara, T. Funato, Y. Sugimoto, and K. Tsuchiya, "Evaluating functional roles of phase resetting in generation of adaptive human bipedal walking with a physiologically based model of the spinal pattern generator", Biological Cybernetics, 102(5):373-387, 2010.
  22. N. Ogihara, H. Makishima, S. Aoi, Y. Sugimoto, K. Tsuchiya, and M. Nakatsukasa, "Development of an anatomically based whole-body musculoskeletal model of the Japanese macaque (Macaca fuscata)", American Journal of Physical Anthropology, 139(3):323-338, 2009.
  23. Y. Sugimoto, S. Aoi, N. Ogihara, and K. Tsuchiya, "Stabilizing function of the musculoskeletal system for periodic motion", Advanced Robotics, Special Issue on Mobiligence (2), 23(5):521-534, 2009.
  24. S. Aoi, N. Ogihara, Y. Sugimoto, and K. Tsuchiya, "Simulating adaptive human bipedal locomotion based on phase resetting using foot-contact information", Advanced Robotics, Special Issue on Mobiligence (1), 22(15):1697-1713, 2008.
  25. S. Aoi, Y. Sato, and K. Tsuchiya, "Arc feet effects on stability based on a simple oscillator-driven walking model", Journal of Robotics and Mechatronics, Special Issue on MEXT 21st Century COE Programs (II), 20(5):709-718, 2008.
  26. S. Aoi and K. Tsuchiya, "Adaptive behavior in turning of an oscillator-driven biped robot", Autonomous Robots, 23(1):37-57, 2007. [Movies]
  27. S. Aoi, H. Sasaki, and K. Tsuchiya, "A multilegged modular robot that meanders: Investigation of turning maneuvers using its inherent dynamic characteristics", SIAM Journal on Applied Dynamical Systems, 6(2):348-377, 2007. [Movies]
  28. S. Aoi and K. Tsuchiya, "Self-stability of a simple walking model driven by a rhythmic signal", Nonlinear Dynamics, 48(1-2):1-16, 2007.
  29. S. Aoi and K. Tsuchiya, "Stability analysis of a simple walking model driven by an oscillator with a phase reset using sensory feedback", IEEE Transactions on Robotics, 22(2):391-397, 2006.
  30. S. Aoi and K. Tsuchiya, "Bifurcation and chaos of a simple walking model driven by a rhythmic signal", International Journal of Non-Linear Mechanics, 41(3):438-446, 2006.
  31. S. Aoi and K. Tsuchiya, "Locomotion control of a biped robot using nonlinear oscillators", Autonomous Robots, 19(3):219-232, 2005.

Review Articles

  1. S. Aoi and T. Funato, "Neuromusculoskeletal models based on the muscle synergy hypothesis for the investigation of adaptive motor control in locomotion via sensory-motor coordination", Neuroscience Research, Special Issue on Body representation in the brain, Vol. 104, pp. 88-95, 2016. [Abstrac & Full text] (Our models are used for the journal cover)
  2. S. Aoi, "Simple legged robots that reveal biomechanical and neuromechanical functions in locomotion dynamics", Journal of Robotics and Mechatronics, Grand Robots Museum, Vol. 26, No. 1, pp. 98-99, 2014. [Abstract & Full text]

Book Chapters

  1. Q. An, Y. Ishikawa, T. Funato, S. Aoi, H. Oka, H. Yamakawa, A. Yamashita, and H. Asama, "Muscle synergy analysis of human standing-up motion using forward dynamic simulation with four body segment model", Distributed Autonomous Robotic Systems, The 12th International Symposium, N.-Y. Chong and Y.-J. Cho (Eds.), pp. 459-471, Springer, Japan, 2016.
  2. S. Aoi, "Chapter 8. Neuromusculoskeletal modeling for the adaptive control of posture during locomotion", Neuromechanical Modeling of Posture and Locomotion, B. Prilutsky and D.H. Edwards (Eds.), pp. 225-244, Springer, New York, 2016.
  3. S. Aoi, "Chapter 8. Neuromusculoskeletal modeling for the adaptive control of posture during locomotion", Neuromechanical Modeling of Posture and Locomotion, B. Prilutsky and D.H. Edwards (Eds.), pp. 225-244, Springer, New York, 2016.
  4. S. Aoi, "Chapter 1 Gait generation and transition of a biped robot based on kinematic synergy in human locomotion", Handbook of Research on Advancements in Robotics and Mechatronics, M.K. Habib (Ed.), pp. 1-17, IGI Global, Hershey, PA, USA, 2015.
  5. S. Aoi, "Chapter 12: Neuromechanical models revealing hysteresis mechanism in gait transitions of animals", Hysteresis: Types, Applications and Behavior Patterns in Complex Systems, J.C. Dias (Ed.), pp. 285-300, Nova Science Publishers, New York, NY, USA, 2014.
  6. S. Aoi, "Chapter 6. Low-dimensional structures embedded in human locomotion: Data analysis and modeling", Self-organization: Theories and Methods, W.J. Zhang (Ed.), pp. 155-170, Nova Science Publishers, New York, NY, USA, 2013.
  7. S. Aoi, "Chapter 2. Gait transition control of a biped robot from quadrupedal to bipedal locomotion based on central pattern generator, phase resetting, and kinematic synergy", Engineering Creative Design in Robotics and Mechatronics, M.K. Habib and J.P. Davim (Eds.), pp. 11-24, IGI Global, Hershey, PA, USA, 2013.
  8. S. Aoi, "Chapter 3. Biologically inspired CPG-based locomotion control system of a biped robot using nonlinear oscillators with phase resetting", Interdisciplinary Mechatronics: Engineering Science and Research Development, M.K. Habib and J.P. Davim (Eds.), pp. 37-68, Wiley-ISTE, London, UK, 2013.
  9. S. Aoi, "Chapter 1. Adaptive walking of a biped robot using nonlinear oscillators with phase resetting", Advances in Robotics - Modeling, Control and Applications, C. Ciufudean and L. García (Eds.), pp. 1-18, iConcept Press, Hong Kong, China, 2013.
  10. S. Aoi and K. Tsuchiya, "Chapter 2. Gait transition from quadrupedal to bipedal locomotion of an oscillator-driven biped robot", Humanoid Robots New Developments, A.C. de Pina Filho (Ed.), pp. 17-30, I-Tech, Vienna, Austria, 2007.
  11. K. Tsuchiya, S. Aoi, and K. Tsujita, "A turning strategy of a multi-legged locomotion robot", Adaptive Motion of Animals and Machines, H. Kimura, K. Tsuchiya, A. Ishiguro, and H. Witte (Eds.), pp. 227-236, Springer-Verlag, Tokyo, Japan, 2006.

Talks, Lectures, and Seminars

  1. S. Aoi, "Neuromusculoskeletal models for exploring adaptive motor control in locomotion based on muscle synergy", Japan-Europe international meeting on Embodied-brain system sciences "Embodied-Brain: Perspectives from motor control and muscle synergies", Taormina, Italy, 2016.
  2. S. Aoi, "Investigating fast and slow dynamics of adaptive motor control in locomotion using neuromusculoskeletal models based on muscle synergy", Embodied-Brain Seminar, Fondazione Santa Lucia, Roma, Italy, 2016.
  3. S. Aoi, "Instability and maneuverability of a multi-legged robot", Robophysics: Physics Meets Robotics II, APS March Meeting 2016, Baltimore, MD, USA, 2016.
  4. S. Aoi, "Legged robot and neuromusculoskeletal model for revealing adaptation mechanism in split-belt treadmill walking", Workshop "Embodied sensorimotor interaction: from locomotion to collective behavior", the First International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2015), Kyoto, Japan, 2015.
  5. S. Aoi, "Modeling of motor control that alters body representation in brain", Workshop "Embodied-Brain Systems Sciences", International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015), Milan, Italy, 2015.
  6. S. Aoi, "Exploring adaptation mechanism in split-belt treadmill walking using legged robot and neuromusculoskeletal model", Workshop "Neuromechanics and Integrative Motor Control", 24th Computational Neuroscience Meeting (CNS2015), Prague, Czech Republic, 2015.
  7. S. Aoi, "Neuromusculoskeletal models and legged robots for exploring adaptive motor control in humans and animals", Working Group Meetings: Robotics, HeKKSaGOn University Consortium, The 4th German-Japanese University Presidents' Conference, Working Group Meetings: Robotics, Tohoku University, Sendai, Japan, 2015.
  8. S. Aoi, "Neuromusculoskeletal models and legged robots for exploring adaptive locomotion control in humans and animals", Bristol-Kyoto Workshop on Stability and Control of Bipedal Locomotion, University of Bristol, Bristol, UK, 2014.
  9. S. Aoi, "Locomotion dynamics and control in humans and animals", RIMS Conference / The 6th CREST-SBM International Conference, Kyoto University RIMS, Japan, 2014.
  10. S. Aoi, "Neuromusculoskeletal models and legged robots to reveal adaptive functions in locomotion dynamics", Swiss-Kyoto Symposium, ETH Zurich Zentrum Campus, Swiss, 2013.
  11. S. Aoi, "Simulation study of bipedal walking in Japanese monkeys and humans", 10th Seminar of Office for the Promotion of Educational Reform, Osaka University, 2011.
  12. S. Aoi, N. Ogihara, and K. Tsuchiya, "System biomechanics: Exploration of principal mechanism for adaptive locomotion", SICE Annual Conference 2010 (SICE2010), Workshop "Mobiligence", Taipei, Taiwan, 2010.

Refereed Conference Articles

  1. M. Toeda, S. Aoi, S. Fujiki, T. Funato, K. Tsuchiya, and D. Yanagihara, "Investigation of the contributions of muscle synergy and posture control in quadruped locomotion using a neuromusculoskeletal model", Proceedings of the 1st International Symposium on Embodied-Brain Systems Science (EmboSS2016), Tokyo, Japan, P25, 2016.
  2. T. Funato, Y. Sato, D. Yanagihara, Y. Sato, S. Fujiki, S. Aoi, and K. Tsuchiya, "Evaluation of the intersegmental coordination of standing rat", Proceedings of the 1st International Symposium on Embodied-Brain Systems Science (EmboSS2016), Tokyo, Japan, P28, 2016.
  3. S. Fujiki, S. Aoi, T. Funato, D. Yanagihara, and K. Tsuchiya, "Modeling of slow dynamics for locomotion : simulation of split-belt treadmill walking of a rat hindlimb neuromusculoskeletal model", Proceedings of the 1st International Symposium on Embodied-Brain Systems Science (EmboSS2016), Tokyo, Japan, P34, 2016.
  4. S. Ishiduka, H. Oshima, S. Aoi, T. Funato, N. Tomita, N. Tsujiuchi, A. Ito, and K. Tsuchiya, "Kinematic analysis of low dimensional structure in walking and running", Proceedings of IEEE International Symposium on Micro-NanoMechatronics and Human Science (MHS2015), Nagoya, Japan, pp. 287-291, 2015.
  5. S. Noro, T. Funato, Y. Sato, Y. Sato, D. Yanagihara, S. Aoi, and K. Tsuchiya, "Dynamical model of the body sway of bipedally standing rat with olivo-cerebellar dysfunction", Proceedings of IEEE International Symposium on Micro-NanoMechatronics and Human Science (MHS2015), Nagoya, Japan, pp. 285-286, 2015.
  6. J. Ota, H. Asama, T. Kondo, H. Tanaka, S. Yano, J. Izawa, S. Aoi, and R. Chiba, "Modeling method in embodied-brain systems science", Proceedings of IEEE International Symposium on Micro-NanoMechatronics and Human Science (MHS2015), Nagoya, Japan, pp. 277-278, 2015.
  7. Y. Ambe, S. Aoi, T. Nachstedt, P. Manoonpong, F. Wörgötter, and F. Matsuno, "Embodied sensorimotor interaction for hexapod locomotion", Proceedings of the First International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2015), Kyoto, Japan, pp. 340-343, 2015.
  8. T. Kamimura, Y. Ambe, S. Aoi, and F. Matsuno, "Investigation of the effect of body flexibility on bounding gait with a simple model", the First International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2015), Kyoto, Japan, P3-W4, 2015.
  9. S. Fujiki, S. Aoi, D. Yanagihara, T. Funato, Y. Sato, K. Senda, and K. Tsuchiya, "Investigation of adaptive split-belt treadmill walking by the hindlimbs of rats", Proceedings of International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015), Milan, Italy, pp. 6756-6759, 2015.
  10. Y. Sato, T. Funato, D. Yanagihara, Y. Sato, S. Aoi, S. Fujiki, K. Nakano, and K. Tsuchiya, "Measuring body sway of bipedally standing rat and quantitative evaluation of its postural control", Proceedings of International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015), Milan, Italy, pp. 5311-5314, 2015.
  11. S. Noro, T. Funato, Y. Sato, Y. Sato, D. Yanagihara, S. Aoi, and K. Tsuchiya, "Evaluation of the body sway of bipedally standing rat with cerebellar dysfunction", Proceedings of International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015), Milan, Italy, SaBPoT5.23, 2015.
  12. Q. An, Y. Ishikawa, S. Aoi, T. Funato, H. Oka, H. Yamakawa, A. Yamashita, and H. Asama, "Muscle synergy analysis of various human standing-up motion: Different chair heights, motion speeds and strategies", International Symposium on Hand movement and Muscle synergy "New approaches to complex musculoskeletal systems", National Center of Neurology and Psychiatry, Japan, 2015.
  13. S. Aoi, S. Fujiki, D. Yanagihara, T. Funato, Y. Sato, N. Tomita, N. Ogihara, K. Senda, and K. Tsuchiya, "Investigating adaptation in hindlimb split-belt treadmill walking by rats using kinematic measurement and a neuromusculoskeletal model", International Society for Posture and Gait Research World Congress (ISPGR World Congress 2015), Seville, Spain, P3-Q-83, 2015.
  14. T. Funato, D. Yanagihara, S. Aoi, Y. Sato, and K. Tsuchiya, "Spectrum analysis of body sway in bipedally standing rat", International Society for Posture and Gait Research World Congress (ISPGR World Congress 2015), Seville, Spain, P3-D-21, 2015.
  15. Q. An, Y. Ishikawa, S. Aoi, T. Funato, H. Oka, H. Yamakawa, A. Yamashita, and H. Asama, "Analysis of muscle synergy contribution on human standing-up motion using a neuro-musculoskeletal model", Proceedings of IEEE International Conference on Robotics and Automation (ICRA2015), Seattle, WA, USA, pp. 5885-5890, 2015.
  16. T. Funato, S. Aoi, N. Tomita, and K. Tsuchiya, "Experimental observation of rhythm control of human gait using moving floor", SIAM Conference on Applications of Dynamical Systems (SIAM DS15), Snowbird, UT, USA, p. 196, 2015.
  17. T. Kamimura, Y. Ambe, S. Aoi, and F. Matsuno, "Investigation of the effect of the flexible body on bounding gait of a quadruped robot", Proceedings of International Symposium on Artificial Life and Robotics (AROB2015), Beppu, Japan, pp. 690-694, 2015. Young Author Award
  18. M. Toeda, S. Aoi, T. Funato, K. Tsuchiya, and D. Yanagihara, "Neuromusculoskeletal modelling and the gait of a quadruped according to its speed in rats", Society for Neuroscience (SfN2014), Washington, DC, USA, 186.09/TT30, 2014.
  19. Q. An, Y. Ishikawa, T. Funato, S. Aoi, H. Oka, H. Yamakawa, A. Yamashita, and H. Asama, "Muscle synergy analysis of human standing-up motion using forward dynamic simulation with four body segment model", Proceedings of International Symposium on Distributed Autonomous Robotic Systems (DARS2014), Daejeon, Korea, pp. 249-261, 2014.
  20. S. Fujiki, S. Aoi, D. Yanagihara, T. Funato, N. Tomita, N. Ogihara, K. Senda, and K. Tsuchiya, "Hindlimb splitbelt treadmill walking of a rat based on a neuromusculoskeletal model", Proceedings of the 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2014), Sao Paulo, Brazil, pp. 881-886, 2014.
  21. S. Aoi, T. Tanaka, S. Fujiki, K. Senda, and K. Tsuchiya, "Experimental verification of cusp catastrophe in the gait transition of a quadruped robot driven by nonlinear oscillators with phase resetting", Proceedings of the 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2014), Sao Paulo, Brazil, pp. 825-830, 2014.
  22. T. Funato, S. Aoi, N. Tomita, and K. Tsuchiya, "Dynamical analysis of human standing model with cyclic motion", Proceedings of the 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2014), Sao Paulo, Brazil, pp. 627-631, 2014.
  23. K. Ota, T. Funato, N. Tomita, S. Aoi, K. Tsuchiya, and T. Aoyagi, "Analyzing interacting rhythms using dynamical systems theory and Bayesian statistics: An application to human walking dynamics", Joint Annual Meeting of the Japanese Society for Mathematical Biology and the Society for Mathematical Biology (JSMB/SMB 2014), Osaka, Japan, 2014.
  24. S. Fujiki, S. Aoi, K. Senda, and K. Tsuchiya, "Generation of adaptive splitbelt treadmill walking of a biped robot using learning of intralimb and interlimb coordinations", Proceedings of IEEE International Conference on Robotics and Automation (ICRA2014), Hong Kong, China, pp. 2392-2397, 2014.
  25. Q. An, Y. Ishikawa, T. Funato, S. Aoi, H. Oka, H. Yamakawa, A. Yamashita, and H. Asama, "Generation of human standing-up motion with muscle synergies using forward dynamic simulation", Proceedings of IEEE International Conference on Robotics and Automation (ICRA2014), Hong Kong, China, pp. 730-735, 2014.
  26. S. Noro, T. Funato, S. Aoi, K. Nakano, and K. Tsuchiya, "Experimental validation of nonlinear PID model for human standing with large body sway", Proceedings of 11th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON2014), Nakhon Ratchasima, Thailand, pp. 1-5, 2014.
  27. Y. Ambe, T. Nachstedt, P. Manoonpong, F. Wörgötter, S. Aoi, and F. Matsuno, "Stability analysis of a hexapod robot driven by distributed nonlinear oscillators with a phase modulation mechanism", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013), Tokyo, Japan, pp. 5087-5092, 2013.
  28. R. Yamasaki, Y. Ambe, S. Aoi, and F. Matsuno, "Quadrupedal bounding with spring-damper body joint", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013), Tokyo, Japan, pp. 2345-2350, 2013.
  29. T. Funato, Y. Yamamoto, S. Aoi, N. Tomita, T. Imai, T. Aoyagi, and K. Tsuchiya, "Estimating the phase response curve of human walking using WSTA method", Proceedings of SICE Annual Conference 2013 (SICE2013), Nagoya, Japan, pp. 1298-1299, 2013.
  30. S. Aoi, T. Funato, N. Tomita, and K. Tsuchiya, "Neuromusculoskeletal model of human running based on muscle synergy", Proceedings of 5th International Symposium on Measurement, Analysis and Modelling of Human Functions (ISHF2013), Vancouver, Canada, pp. 6-9, 2013.
  31. T. Funato, K. Hashizume, S. Aoi, N. Tomita, and K. Tsuchiya, "Experimental validation of nonlinear PID control model for human sway during standing", Proceedings of 5th International Symposium on Measurement, Analysis and Modelling of Human Functions (ISHF2013), Vancouver, Canada, pp. 10-13, 2013.
  32. T. Funato, S. Aoi, N. Tomita, and K. Tsuchiya, "The contribution of kinematic synergy on feedback control of human walking", Proceedings of the 6th International Symposium on Adaptive Motion of Animals and Machines (AMAM2013), Darmstadt, Germany, pp. 35-36, 2013.
  33. S. Fujiki, S. Aoi, K. Senda, and K. Tsuchiya, "Improving adaptive walking of a biped robot on a splitbelt treadmill by controlling the interlimb coordination", Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO2012), Guangzhou, China, pp. 396-401, 2012.
  34. S. Aoi, D. Katayama, S. Fujiki, T. Kohda, K. Senda, and K. Tsuchiya, "Cusp catastrophe embedded in gait transition of a quadruped robot driven by nonlinear oscillators with phase resetting", Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO2012), Guangzhou, China, pp. 384-389, 2012.
  35. T. Funato, S. Aoi, N. Tomita, and K. Tsuchiya, "A system model that focuses on kinematic synergy for understanding human control structure", Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO2012), Guangzhou, China, pp. 378-383, 2012.
  36. S. Aoi, N. Hayashi, T. Kondo, D. Yanagihara, S. Aoki, H. Yamaura, N. Ogihara, T. Funato, N. Tomita, K. Senda, and K. Tsuchiya, "Hindlimb obstacle avoidance during rat locomotion based on a neuromusculoskeletal model", Proceedings of the 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2012), Rome, Italy, pp. 1046-1051, 2012. Best Paper Award
  37. S. Fujiki, S. Aoi, T. Kohda, K. Senda, and K. Tsuchiya, "Emergence of hysteresis in gait transition of a hexapod robot driven by nonlinear oscillators with phase resetting", Proceedings of the 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2012), Rome, Italy, pp. 1638-1643, 2012.
  38. T. Funato, Y. Yamamoto, S. Aoi, N. Tomita, and K. Tsuchiya, "Analysis of rhythm adjustment mechanism of human locomotion against horizontal perturbation", Proceedings of the 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2012), Rome, Italy, pp. 1359-1364, 2012.
  39. T. Funato, S. Aoi, N. Tomita, and K. Tsuchiya, "Human gait control suggested by the evaluation of the fluctuation of synergy", Proceedings of IEEE/SICE International Symposium on System Integration (SII2011), Kyoto, Japan, pp. 267-272, 2011.
  40. T. Funato, T. Hosokawa, S. Aoi, N. Tomita, and K. Tsuchiya, "Isochron of human walking derived from the perturbation of floor", Proceedings of the 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011), Awaji, Japan, pp. 35-36, 2011.
  41. S. Aoi, S. Fujiki, T. Yamashita, T. Kohda, K. Senda, and K. Tsuchiya, "Generation of adaptive splitbelt treadmill walking by a biped robot using nonlinear oscillators with phase resetting", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2011), San Francisco, CA, USA, pp. 2274-2279, 2011.
  42. S. Aoi, S. Fujiki, D. Katayama, T. Yamashita, T. Kohda, K. Senda, and K. Tsuchiya, "Experimental verification of hysteresis in gait transition of a quadruped robot driven by nonlinear oscillators with phase resetting", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2011), San Francisco, CA, USA, pp. 2280-2285, 2011.
  43. S. Aoi, T. Yamashita, A. Ichikawa, and K. Tsuchiya, "Hysteresis in gait transition induced by changing waist joint stiffness of a quadruped robot driven by nonlinear oscillators with phase resetting", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010), Taipei, Taiwan, pp. 1915-1920, 2010.
    Movie: Gait transition from trot to walk pattern (3.1M)
  44. T. Yamashita, S. Aoi, A. Ichikawa, and K. Tsuchiya, "Emergence of hysteresis in gait transition by changing walking speed of an oscillator-driven quadruped robot", Proceedings of SICE Annual Conference 2010 (SICE2010), Taipei, Taiwan, pp. 1837-1839, 2010.
  45. T. Kondo, S. Aoi, D. Yanagihara, S. Aoki, H. Yamaura, N. Ogihara, A. Ichikawa, and K. Tsuchiya, "Development of a musculoskeletal model of the hind legs of the rat based on anatomical data and generation of locomotion based on kinematic data", Proceedings of SICE Annual Conference 2010 (SICE2010), Taipei, Taiwan, pp. 2308-2310, 2010.
  46. S. Aoi, N. Ogihara, T. Funato, Y. Sugimoto, and K. Tsuchiya, "Evaluation of functional roles of phase resetting in generation of adaptive human locomotion based on a neuromusculoskeletal model", Proceedings of 4th International Symposium on Measurement, Analysis and Modelling of Human Functions (ISHF2010), Prague, Czech Republic, pp. 64-67, 2010.
  47. T. Funato, S. Aoi, and K. Tsuchiya, "Robust patterns embedded in the kinematics of human locomotion under various environments", Proceedings of 4th International Symposium on Measurement, Analysis and Modelling of Human Functions (ISHF2010), Prague, Czech Republic, pp. 68-71, 2010.
  48. N. Ogihara, S. Aoi, Y. Sugimoto, T. Funato, H. Makishima, M. Nakatsukasa, and K. Tsuchiya, "System biomechanics of bipedal walking in the Japanese macaque: Exploration of principal mechanism for adaptive locomotion", Proceedings of 3rd International Symposium on Mobiligence, Awaji, Japan, pp. 60-63, 2009.
  49. T. Funato, S. Aoi, and K. Tsuchiya, "An analysis of the kinematic indices of human walking", Proceedings of 3rd International Symposium on Mobiligence, Awaji, Japan, pp. 224-229, 2009.
  50. S. Aoi, N. Ogihara, T. Funato, Y. Sugimoto, and K. Tsuchiya, "Generation of adaptive human bipedal locomotion based on a neuromusculoskeletal model", Proceedings of 3rd International Symposium on Mobiligence, Awaji, Japan, pp. 250-254, 2009.
  51. N. Ogihara, S. Aoi, Y. Sugimoto, K. Tsuchiya, and M. Nakatsukasa, "Computer simulation study of bipedal walking in the Japanese macaque based on a musculoskeletal model", Proceedings of 3rd International Symposium on Mobiligence, Awaji, Japan, pp. 259-262, 2009.
  52. K. Tsuchiya, S. Aoi, T. Funato, and N. Ogihara, "System models of animal locomotion", Cognition for Technical Systems Fall Workshop, Munich, Germany, 2009.
  53. N. Ogihara, S. Aoi, Y. Sugimoto, K. Tsuchiya, and M. Nakatsukasa, "Simulation study of bipedal locomotion in the Japanese macaque: Towards understanding the mechanisms of adaptive control and the evolution of human bipedalism", The 32nd Annual Meeting of Japan Neuroscience Society, Nagoya, Japan, 2009.
  54. S. Aoi, Y. Egi, A. Ichikawa, and K. Tsuchiya, "Experimental verification of gait transition from quadrupedal to bipedal locomotion of an oscillator-driven biped robot", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2008), Nice, France, pp. 1115-1120, 2008.
  55. S. Aoi, Y. Sato, and K. Tsuchiya, "Stability characteristics in walking behavior with two different oscillatory elements: Roles of arc foot and internal oscillator", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2008), Nice, France, pp. 3414-3419, 2008.
  56. N. Ogihara, S. Aoi, Y. Sugimoto, M. Nakatsukasa, and K. Tsuchiya, "Computer simulation of locomotion in the Japanese monkey: A constructive approach towards understanding adaptive mechanism in primate locomotion", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2008), Workshop, Nice, France, 2008.
  57. N. Ogihara, S. Aoi, Y. Sugimoto, M. Nakatsukasa, and K. Tsuchiya, "Synthetic study of quadrupedal/bipedal locomotion in the Japanese monkey", 4th International Symposium on Adaptive Motion of Animals and Machines (AMAM2008), Cleveland, OH, USA, pp. 22-23, 2008.
  58. S. Aoi, N. Ogihara, Y. Sugimoto, and K. Tsuchiya, "Computer simulation of adaptive human bipedal locomotion based on phase resetting using foot contact information", 4th International Symposium on Adaptive Motion of Animals and Machines (AMAM2008), Cleveland, OH, USA, pp. 64-65, 2008.
  59. Y. Sugimoto, S. Aoi, N. Ogihara, and K. Tsuchiya, "The role of the force-velocity relationship of muscle for the stability of periodic motions", 4th International Symposium on Adaptive Motion of Animals and Machines (AMAM2008), Cleveland, OH, USA, pp. 171-172, 2008.
  60. S. Aoi, Y. Sato, and K. Tsuchiya, "Investigation of the effects on stability of foot rolling motion based on a simple walking model", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007), San Diego, CA, USA, pp. 2987-2992, 2007.
  61. N. Ogihara, S. Aoi, Y. Sugimoto, M. Nakatsukasa, and K. Tsuchiya, "System biomechanics study of locomotion in the Japanese monkey", The 2nd International Symposium on Mobiligence, Awaji, Japan, pp. 41-44, 2007.
  62. Y. Sugimoto, S. Aoi, N. Ogihara, and K. Tsuchiya, "The stabilizing function of musculoskeletal system for periodic motion", The 2nd International Symposium on Mobiligence, Awaji, Japan, pp. 145-148, 2007.
  63. N. Ogihara, S. Aoi, Y. Sugimoto, M. Nakatsukasa, and K. Tsuchiya, "A constructive simulation study of locomotion in the Japanese moneky based on a neuro-musucloskeletal model", International Workshop on Mobiligence, Padova, Italy, 2007.
  64. N. Ogihara, M. Nakatsukasa, Y. Sugimoto, S. Aoi, and K. Tsuchiya, "Adaptive locomotion mechanisms inherent in the musculoskeletal structure", Proceedings of SICE-ICASE International Joint Conference 2006, Busan, Korea, pp. 4495-4498, 2006.
  65. S. Aoi, H. Sasaki, and K. Tsuchiya, "Turning maneuvers of a multi-legged modular robot using its inherent dynamic characteristics", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006), Beijing, China, pp. 180-185, 2006.
  66. S. Aoi and K. Tsuchiya, "Feedback control of a simple walking model driven by an oscillator", Proceedings of IEEE International Conference on Robotics and Automation (ICRA2006), Orlando, FL, USA, pp. 1990-1996, 2006.
  67. S. Aoi and K. Tsuchiya, "Bipedal locomotion control using nonlinear oscillators", Dynamic Walking 2006, Ann Arbor, MI, USA, 2006.
  68. S. Aoi and K. Tsuchiya, "Turning of a biped robot driven by nonlinear oscillators", Proceedings of 3rd International Symposium on Adaptive Motion of Animals and Machines (AMAM2005), Ilmenau, Germany, 2005.
  69. S. Aoi and K. Tsuchiya, "Transition from quadrupedal to bipedal locomotion", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005), Edmonton, Canada, pp. 3419-3424, 2005.
    Movie: Transition (3.1M)
  70. S. Aoi and K. Tsuchiya, "Stability analysis of a simple walking model driven by a nonlinear oscillator", Proceedings of IEEE International Conference on Systems, Man, and Cybernetics (SMC04), Hague, Netherlands, pp. 4450-4455, 2004.
  71. S. Aoi and K. Tsuchiya, "Stability analysis of a simple walking model driven by a rhythmic signal", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2004), Sendai, Japan, pp. 1365-1370, 2004.
  72. S. Aoi, K. Tsuchiya, and K. Tsujita, "Turning control of a biped locomotion robot using nonlinear oscillators", Proceedings of IEEE International Conference on Robotics and Automation (ICRA2004), New Orleans, LA, USA, pp. 3043-3048, 2004.
    Movie: Turning (2.3M) Target Pursuit (5.0M)
  73. X. Zheng, K. Tsuchiya, T. Sawaragi, K. Osuka, K. Tsujita, Y. Horiguchi, and S. Aoi, "Development of human-machine interface in disaster-purposed search robot systems that serve as surrogates for human", Proceedings of IEEE International Conference on Robotics and Automation (ICRA2004), New Orleans, LA, USA, pp. 225-230, 2004.
  74. K. Tsuchiya, S. Aoi, and K. Tsujita, "Locomotion control of a biped locomotion robot using nonlinear oscillators", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2003), Las Vegas, NV, USA, pp. 1745-1750, 2003.
    Movie: Slope (Down) (3.1M) Slope (Up) (3.1M)
  75. K. Tsuchiya, K. Tsujita, and S. Aoi, "Locomotion control of legged robots using nonlinear oscillators", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2003), Workshop, Las Vegas, NV, USA, 2003.
  76. K. Tsuchiya, S. Aoi, and K. Tsujita, "A turning strategy of a multi-legged locomotion robot", Proceedings of 2nd International Symposium on Adaptive Motion of Animals and Machines (AMAM2003), Kyoto, Japan, ThP-I-1, 2003.
    Movie: Meandering (11M) Turning (11M)
  77. K. Tsuchiya, S. Aoi, and K. Tsujita, "Locomotion control of a multi-legged locomotion robot using oscillators", Proceedings of IEEE International Conference on Systems, Man, and Cybernetics (SMC02), Hammamet, Tunisia, TA2G2, 2002.
  78. K. Tsuchiya, K. Tsujita, M. Kawakami, and S. Aoi, "An emergent control of gait patterns of legged locomotion robots", Proceedings of 4th IFAC Symposium on Intelligent Autonomous Vehicles, Sapporo, Japan, pp. 271-276, 2001.
  79. K. Tsujita, K. Tsuchiya, A. Onat, S. Aoi, and M. Kawakami, "Locomotion control of a multipod locomotion robot with CPG principles", Proceedings of 6th International Symposium on Artificial Life and Robotics, Tokyo, Japan, Vol. 2, pp. 421-426, 2001.

Awards

  1. International Symposium on Artificial Life and Robotics, Young Author Award, 2015 (T. Kamimura, Student).
  2. IEEE International Conference on Biomedical Robotics and Biomechatronics, Best Paper Award, 2012.

Press

  1. Asian Scientist Magazine, "The undulating walk of the centipede", July 26, 2016.
  2. RoboDaily.Com, "Hey robot, shimmy like a centipede", July 26, 2016.
  3. I-Connect007, "Hey robot, shimmy like a centipede", July 25, 2016.
  4. Latest Science And Technology Apps, "Surprising unstable advantage of robots mimic centipede", July 25, 2016.
  5. CrazyEngineers, "A shimmy robot, moves like a centipede, discloses underlying concepts of intelligent motor functions", July 24, 2016.
  6. Motherboard, "This robotic centipede will teach robots how to walk", July 24, 2016.
  7. Odd Onion, "Hey robot, shimmy like a centipede", July 24, 2016.
  8. Robot News, "Centipede-like robot replicates undulating movement", July 24, 2016.
  9. Gizmodo, "Somebody tested how a centipede moves because of course they did", July 23, 2016.
  10. Robot News, "Robot that can mimics centipedes locomotion", July 23, 2016.
  11. eeDesignIt.com, "Using robotics to determine how centipedes move so fast", July 22, 2016.
  12. Electronic Specifier, "Robots mimic how centipedes move", July 22, 2016.
  13. Electronics Weekly, "Discovery means robot centipedes go fast and turn quickly", July 22, 2016.
  14. EurekAlert!, "Hey robot, shimmy like a centipede: Kyoto University devices mimic creature's surprising unstable advantage", July 22, 2016.
  15. (e) Science News, "Hey robot, shimmy like a centipede", July 22, 2016.
  16. Health Medicine Network, "Hey robot, shimmy like a centipede", July 22, 2016.
  17. Industrial Equipment News, "Robot shimmies like a centipede", July 22, 2016.
  18. Nanowerk, "Hey robot, shimmy like a centipede", July 22, 2016.
  19. Newswise, "Hey robot, shimmy like a centipede", July 22, 2016.
  20. noodls, "Hey robot, shimmy like a centipede", July 22, 2016.
  21. innovations report, "Hey robot, shimmy like a centipede", July 22, 2016.
  22. Phys.org, "Robots mimic centipede's surprising unstable advantage", July 22, 2016.
  23. RobotConsumer, "Robots mimic centipede's surprising unstable advantage", July 22, 2016.
  24. Robot Globe, "Hey robot, shimmy like a centipede", July 22, 2016.
  25. Science Daily, "Hey robot, shimmy like a centipede: Devices mimic creature's surprising unstable advantage", July 22, 2016.
  26. ScienceNewsline, "Hey robot, shimmy like a centipede", July 22, 2016.
  27. Scienmag, "Hey robot, shimmy like a centipede", July 22, 2016.