Journal Articles

  1. 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, in press.
  2. 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, in press.
  3. 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, in press.
  4. 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. [Abstract & Full text]
  5. 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. [Abstract & Full text]
  6. 舩戸徹郎, 青井伸也, 土屋和雄, "ヒトの歩行における全身の関節協調動作の定量的評価", 日本ロボット学会誌, 特集「第27回日本ロボット学会学術講演会論文特集号II」, 28(8):996-1003, 2010.
  7. 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. [Abstract & Full text]
  8. 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. [Abstract & Full text]
  9. 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. [Abstract & Full text]
  10. 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. [Abstract & Full text] [Manuscript]
  11. 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. [Abstract & Full text] [Manuscript]
  12. S. Aoi and K. Tsuchiya, "Adaptive behavior in turning of an oscillator-driven biped robot", Autonomous Robots, 23(1):37-57, 2007. [Abstract & Full text] [Movies]
  13. 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. [Abstract & Full text] [Movies]
  14. 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. [Abstract & Full text]
  15. 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. [Abstract] [Full text]
  16. 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. [Abstract & Full text]
  17. S. Aoi and K. Tsuchiya, "Locomotion control of a biped robot using nonlinear oscillators", Autonomous Robots, 19(3):219-232, 2005. [Abstrac & Full text]

Book Chapters

  1. 荻原直道, 青井伸也, "第5章 歩行運動のシステムシミュレーション", シリーズ 移動知 第2巻 身体適応─歩行運動の神経機構とシステムモデル (土屋和雄, 高草木薫, 荻原直道 編), pp. 147-188, オーム社, 2010.
  2. S. Aoi and K. Tsuchiya, "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.
  3. 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, 2005.

解説

  1. 土屋和雄, 青井伸也, 舩戸徹郎, "環境適応機能を有する歩行ロボットの構成論", システム/制御/情報, 記号過程を内包した動的適応システム設計論の新展開特集号, Vol. 54, No. 11, pp. 419-425, 2010.
  2. 青井伸也, 土屋和雄, "多脚歩行ロボットの力学特性と運動機能", システム/制御/情報, 生物／機械システムにおける運動と機能の制御特集号, Vol. 53, No. 12, pp. 500-505, 2009.
  3. 青井伸也, 荻原直道, "神経筋骨格モデルに基づくヒトの歩行シミュレーション", 計測と制御, 特集「身体・脳・環境の相互作用による適応的ロコモーション機能」, Vol. 48, No. 9, pp. 687-692, 2009.
  4. 青井伸也, "脚ロボットの適応歩行から複雑系機械工学を考える −京都大学21世紀COEプログラム「動的機能機械システムの数理モデルと設計論−複雑系の科学による機械工学の新たな展開−」−", 日本ロボット学会誌, 特集「21世紀COEプログラム―ロボット系若手研究者の視点から―」, Vol. 25, No. 3, pp. 356-358, 2007.
  5. 土屋和雄, 青井伸也, "自律分散システムとしての歩行ロボット", 計測と制御, 特集「生物に学ぶ機械と制御」, Vol. 42, No. 9, pp. 718-722, 2003.

Refereed Conference Articles

  1. 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)
  2. 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.
  3. 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.
  4. S. Aoi, N. Ogihara, and K. Tsuchiya, "System biomechanics: Exploration of principal mechanism for adaptive locomotion", SICE Annual Conference 2010 (SICE2010), Workshop, Taipei, Taiwan, 2010.
  5. 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.
  6. 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.
  7. 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.
  8. 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.
  9. 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.
  10. 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.
  11. K. Tsuchiya, S. Aoi, T. Funato, and N. Ogihara, "System models of animal locomotion", Cognition for Technical Systems Fall Workshop, Munich, Germany, 2009.
  12. 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.
  13. 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.
  14. 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.
  15. 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.
  16. 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.
  17. 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.
  18. 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.
  19. 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.
  20. 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.
  21. 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.
  22. 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.
  23. 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.
  24. 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.
  25. 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.
  26. S. Aoi and K. Tsuchiya, "Bipedal locomotion control using nonlinear oscillators", Dynamic Walking 2006, Ann Arbor, MI, USA, 2006.
  27. 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.
  28. 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)
  29. 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.
  30. 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.
  31. 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)
  32. 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)
  33. 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.
  34. 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)
  35. 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.
  36. 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.
  37. 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.

その他

  1. 青井伸也, 椹木哲夫, "「記号過程を内包した動的適応システム設計論の新展開」特集号を企画して", システム/制御/情報, 記号過程を内包した動的適応システム設計論の新展開特集号, Vol. 54, No. 11, p. 440, 2010.
  2. 青井伸也, 石井裕之, 川原知洋, 高橋正樹, 成川輝真, 山田浩也, 栗田雄一, 菅原雄介, 大武美保子, "僕達・私達と21世紀COE", 日本ロボット学会誌, 特集「21世紀COEプログラム―ロボット系若手研究者の視点から―」, Vol. 25, No. 3, pp. 374-379, 2007.