@incollection{Tsuchiya07,
author = {Shinya Aoi and Kazuo Tsuchiya},
title = {Gait Transition from Quadrupedal to Bipedal Locomotion of an Oscillator-driven Biped Robot},
booktitle = {Humanoid Robots},
publisher = {IntechOpen},
address = {Rijeka},
year = {2007},
editor = {Armando Carlos de Pina Filho},
chapter = {2},
doi = {10.5772/4858},
url = {https://doi.org/10.5772/4858}
}