{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,20]],"date-time":"2026-04-20T03:06:41Z","timestamp":1776654401983,"version":"3.51.2"},"reference-count":57,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"5","license":[{"start":{"date-parts":[[2022,10,1]],"date-time":"2022-10-01T00:00:00Z","timestamp":1664582400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["JP17H04914"],"award-info":[{"award-number":["JP17H04914"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["JP19KK0377"],"award-info":[{"award-number":["JP19KK0377"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["JP19H04193"],"award-info":[{"award-number":["JP19H04193"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["JP20H00229"],"award-info":[{"award-number":["JP20H00229"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002241","name":"Japan Science and Technology Agency","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100002241","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100020964","name":"Fusion Oriented REsearch for disruptive Science and Technology","doi-asserted-by":"publisher","award":["JPMJFR2021"],"award-info":[{"award-number":["JPMJFR2021"]}],"id":[{"id":"10.13039\/501100020964","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003844","name":"Inamori Foundation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100003844","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2022,10]]},"DOI":"10.1109\/tro.2022.3158194","type":"journal-article","created":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T19:50:02Z","timestamp":1652212202000},"page":"3015-3026","source":"Crossref","is-referenced-by-count":4,"title":["Advanced Turning Maneuver of a Many-Legged Robot Using Pitchfork Bifurcation"],"prefix":"10.1109","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9243-2641","authenticated-orcid":false,"given":"Shinya","family":"Aoi","sequence":"first","affiliation":[{"name":"Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University, Osaka, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ryoe","family":"Tomatsu","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuki","family":"Yabuuchi","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daiki","family":"Morozumi","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kota","family":"Okamoto","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3307-321X","authenticated-orcid":false,"given":"Soichiro","family":"Fujiki","sequence":"additional","affiliation":[{"name":"Department of Physiology, School of Medicine, Dokkyo Medical University, Tochigi, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5720-6155","authenticated-orcid":false,"given":"Kei","family":"Senda","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kazuo","family":"Tsuchiya","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1088\/0034-4885\/79\/11\/110001"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.87.012717"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1038\/srep30199"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2017.00039"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.3182\/20110828-6-IT-1002.02533"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794136"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1418965112"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.2514\/2.4108"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900204"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1126\/science.1107799"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1046\/j.1460-9568.2003.02737.x"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1038\/nature14422"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2010.0493"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2013.6739463"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1126\/science.288.5463.100"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.00144"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1093\/icb\/42.1.85"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1093\/icb\/42.1.149"},{"key":"ref19","volume-title":"Nonlinear Oscillations, Dynamical Systems, and Bifurcations of Vector Fields","author":"Guckenheimer","year":"2002"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300210"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-011-9233-4"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2664898"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau5872"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1126\/science.1138353"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1126\/science.1254486"},{"key":"ref26","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4757-3978-7","volume-title":"Elements of Applied Bifurcation Theory","author":"Kuznetsov","year":"2004"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/aa64a5"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/9.100946"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0809095106"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1126\/science.1229163"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2010.0678"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.3389\/fncir.2013.00012"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3003464"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.3389\/fncir.2020.00046"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1177\/1687814017747399"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-017-00348-9"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917694244"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2010.01.064"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1134\/S1560354708040047"},{"key":"ref40","first-page":"10822","article-title":"BigDog team BigDog, the rough-terrain quadruped robot","volume-title":"Proc. IFAC World Congr.","author":"Raibert","year":"2008"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-013-9850-6"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1007\/s004220000180"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1309300110"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2018.00067"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1504307112"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1038\/nphys1508"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1063\/1.4823332"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2016.1213659"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1016\/S0065-2806(07)34005-8"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1163\/156855305774662208"},{"key":"ref51","article-title":"Quadruped robot for nuclear facilities","volume":"6","year":"2014","journal-title":"E-J. Adv. Maintenance"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-83006-8"},{"key":"ref53","first-page":"86","article-title":"Designs for stability and maneuverability in aquatic vertebrates: What can we learn","volume-title":"Proc. Int. Symp. Unmanned Untethered Submersible Technol.","author":"Webb","year":"1997"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714002628"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20193"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ab84c0"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.3390\/s17122710"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/9910236\/09772005.pdf?arnumber=9772005","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,22]],"date-time":"2024-01-22T23:08:02Z","timestamp":1705964882000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9772005\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,10]]},"references-count":57,"journal-issue":{"issue":"5"},"URL":"https:\/\/doi.org\/10.1109\/tro.2022.3158194","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,10]]}}}