Daiki Katayama
Papers
2
Total Citations
84
H-Index
2
About
Daiki Katayama is a leading researcher in the biomechanics and control of legged locomotion, with a particular focus on the nonlinear dynamics underlying gait transitions in quadrupeds. His work bridges robotics and theoretical biology, exploring how animals and robots shift between gaits like walking and trotting. Katayama’s most influential paper, “A stability-based mechanism for hysteresis in the walk–trot transition in quadruped locomotion” (2013), has garnered 82 citations and provides a groundbreaking explanation for the hysteresis observed in gait changes—a phenomenon where the speed at which an animal switches from walk to trot differs from the reverse transition. By demonstrating that this hysteresis emerges from the stability properties of the underlying dynamical attractors, Katayama offered a unifying principle for a long-standing puzzle in locomotion science. In related work, he developed a quadruped robot controlled by nonlinear oscillators with phase resetting, inspired by central pattern generators, and showed that its gait transitions exhibit a cusp catastrophe structure. This research not only deepens our understanding of animal movement but also informs the design of more agile, adaptive legged robots. Katayama’s contributions are essential reading for anyone studying locomotion control, dynamical systems, or bio-inspired robotics.
Research Focus
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Top Papers
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