Gap closing and universal phase diagrams in topological insulators

We study a general problem how the gap in a nonmagnetic band insulator closes by tuning a parameter. We review our recent results on the classification of all the possible gap closing in two and three dimensions. We show that they accompany the change of Z_2 topological numbers, and that the gap closings correspond to phase transitions between the quantum spin Hall and the insulator phases. Interestingly, in inversion-asymmetric three-dimensional systems there appears a gapless phase between the quantum spin Hall and insulator phases. This gapless phase is due to a topological nature of gap-closing points in three dimensions, but not in two dimensions.