論文 Caterpillar-inspired soft robot that locomotes upside-down by utilizing environmental skeleton Engineering Research Express,2(3) 2020(Sep. 03) Author:Masahiro Morishima, Takuya Umedachi, Yoshihiro Kawahara
Ramus: A Frequency-Multiplexed Power Bus for Powering, Sensing and Controlling Robots IEEE ROBOTICS AND AUTOMATION LETTERS,5(3):4126-4132 2020(Jul.) Author:Nishizawa, Yuki; Sasatani, Takuya; Ishige, Matthew; Narusue, Yoshiaki; Umedachi, Takuya; Kawahara, Yoshihiro;
Balloon-like coupling between head and posterior in a caterpillar ADAPTIVE BEHAVIOR 2020(Mar. 06) Author:Okuya, Fuminori; Umedachi, Takuya; Kawahara, Yoshihiro;
Exploring Behaviors of Caterpillar-Like Soft Robots with a Central Pattern Generator-Based Controller and Reinforcement Learning SOFT ROBOTICS,6(5):579-594 2019(May 20) Author:Ishige, Matthew; Umedachi, Takuya; Taniguchi, Tadahiro; Kawahara, Yoshihiro;
Learning Oscillator-based Gait Controller for String-form Soft Robots using Parameter-exploring Policy Gradients 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018),:6445-6452 2018(Oct. 01) Author:Ishige, Mathew; Umedachi, Takuya; Taniguchi, Tadahiro; Kawahara, Yoshihiro
Response to various periods of mechanical stimuli in Physarum plasmodium JOURNAL OF PHYSICS D-APPLIED PHYSICS,50(25):254002 2017 Author:Umedachi, Takuya; Ito, Kentaro; Kobayashi, Ryo; Ishiguro, Akio; Nakagaki, Toshiyuki;
Modelling Oscillatory Behaviour of Slime Mould Advances in Physarum Machines,Emergence, Complexity and Computation book series (ECC, volume 21):479-488 2017 Author:Umedachi, Takuya; Ishiguro, Akio
Gait control in a soft robot by sensing interactions with the environment using self-deformation ROYAL SOCIETY OPEN SCIENCE,3(12):160766 2016(Dec.) Author:Umedachi, Takuya; Kano, Takeshi; Ishiguro, Akio; Trimmer, Barry A.;
Softworms: the design and control of non-pneumatic, 3D-printed, deformable robots Bioinspiration & Biomimetics,11(2):025001 2016(Mar. 10) Author:Umedachi, Takuya; Vikas, Vishsh; Trimmer, Barry A
Soft-bodied amoeba-inspired robot that switches between qualitatively different behaviors with decentralized stiffness control ADAPTIVE BEHAVIOR,23(2):97-108 2015(Apr.) Author:Umedachi, Takuya; Ito, Kentaro; Ishiguro, Akio;
Enhancing adaptability of amoeboid robot by synergetically coupling two decentralized controllers inspired by true slime mold ADAPTIVE BEHAVIOR,23(2):109-121 2015(Apr.) Author:Umedachi, Takuya; Horikiri, Shunya; Kobayashi, Ryo; Ishiguro, Akio; Keywords:Autonomous decentralized control, soft robotics, coupled oscillator system, amoeboid locomotion, true slime mold
Morphological Computation with Hydrostatic Interaction between Mechanosensory Oscillators E-book on Opinions and Outlook on Morphological Computation,:119-130 2014 Author:Umedachi, Takuya; Ishiguro, Akio
A Swimming Machine Driven by the Deformation of a Sheet-Like Body Inspired by Polyclad Flatworms Conference on Biomimetic and Biohybrid Systems,Living Machines 2013: Biomimetic and Biohybrid Systems(Lecture Notes in Computer Science, Vol. 8064):390-392 2013 Author:Kazama, Toshiya; Kuroiwa, Koki; Umedachi, Takuya; Komatsu, Yuichi; Kobayashi, Ryo Keywords:Body Axis, Underwater Robot, Swimming Pattern, Soft Robot, Propulsive Motion
A Fluid-Filled Soft Robot That Exhibits Spontaneous Switching Among Versatile Spatiotemporal Oscillatory Patterns Inspired by the True Slime Mold ARTIFICIAL LIFE,19(1):67-78 2013 Author:Umedachi, Takuya; Idei, Ryo; Ito, Kentaro; Ishiguro, Akio;
A True-Slime-Mold-Inspired Fluid-Filled Robot Exhibiting Versatile Behavior Conference on Biomimetic and Biohybrid Systems,Living Machines 2012: Biomimetic and Biohybrid Systems(Lecture Notes in Computer Science, Vol. 7375/2012):262-273 2012 Author:Umedachi, Takuya; Idei, Ryo; Ishiguro, Akio
A Soft Deformable Amoeboid Robot Inspired by Plasmodium of True Slime Mold INTERNATIONAL JOURNAL OF UNCONVENTIONAL COMPUTING,7(6):449-462 2011 Author:Umedachi, Takuya; Takeda, Koichi; Nakagaki, Toshiyuki; Kobayashi, Ryo; Ishiguro, Akio;
真正粘菌変形体から着想を得た自律分散制御方策の実験的検証 計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers,46(11):706-712 2010(Nov. 30) Author:梅舘 拓也;武田 光一;中垣 俊之;小林 亮;石黒 章夫 Keywords:decentralized control;soft-bodied robot;local sensory feedback;amoeboid locomotion;biologically-inspired robot
Fully decentralized control of a soft-bodied robot inspired by true slime mold Biological Cybernetics volume,102:261–269 2010(Mar. 04) Author:Umedachi, Takuya; Takeda, Koichi; Nakagaki, Toshiyuki; Kobayashi, Ryo; Ishiguro, Akio
An Amoeboid Locomotion That Exploits Real-Time Tunable Springs and Law of Conservation of Protoplasmic Mass Journal of Robotics and Mechatronics,20(3):449-455 2008(Jun. 20) Author:Umedachi, Takuya; Kitamura, Taichi; Ishiguro, Akio Keywords:amoeboid locomotion, softness of the body, the law of conservation of protoplasmic mass, morphological computation
Development of Real-Time Tunable Spring -Toward Independent Control of Position and Stiffness of Joint- Journal of Robotics and Mechatronics,19(1):27-33 2007(Feb. 20) Author:Umedachi, Takuya; Yamada, Yasutake; Ishiguro, Akio Keywords:ndependent control of position and stiffness, real-time tunable spring, antagonistic mechanism, artificial muscle
講演・口頭発表等 A Multigait Stringy Robot with Bi-Stable Soft-Bodied Structures in Multiple Viscous Environments 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems 2020(Oct. 25) Presenter:T. D. Ta, T. Umedachi, and Y. Kawahara
Blind Bin Picking of Small Screws Through In-finger Manipulation With Compliant Robotic Fingers 2020 IEEE/RSJ International Conference one Intelligent Robots and System (IROS) 2020(Oct. 24) Presenter:Ishige, Matthew; Umedachi, Takuya; Ijiri, Yoshihisa; Taniguchi, Tadahiro; Kawahara, Yoshihiro
Ramus: A Frequency-Multiplexed Power Bus for Powering, Sensing and Controlling Robots IEEE International Conference on Soft Robotics 4126-4132 2020(Apr. 20) Presenter:Yuki Nishizawa, Takuya Sasatani, Matthew Ishige, Yoshiaki Narusue, Takuya Umedachi, Yoshihiro Kawahara
Demonstration of Teleoperated Bumblebee-Quadcopter System for Collision Avoidance IEEE International Conference on Soft Robotics 188-193 2020(Apr. 06) Presenter:Shunsuke Shigaki, Masahiro Shimizu, Hiroki Kobayashi, Risa Ishiguro, Takuya Umedachi, Koh Hosoda
In-Hand Small-Object Counting from Tactile Sensor Arrays Installed on Soft Fingertips IEEE International Conference on Soft Robotics 2020(Apr. 06) Presenter:Matthew Ishige, Takuya Umedachi, Yoshihisa Ijiri, Yoshihiro Kawahara
Electroantennography Measurement by Printed Electronics Electrode 2020 IEEE/SICE International Symposium on System Integration (SII) 2020(Jan. 12) Presenter:Naoki Yamada, Shunsuke Shigaki, Masahiro Shimizu, Hirono Ohashi, Takuya Umedachi, Toshihiko Ogura, Koh Hosoda
Soft-bodied caterpillar-like testbed developed with digital fabrication to close Vico’s loop (Invited talk) 2019 Living Machines Conference, Workshop: CLOSING VICO’S LOOP: ADDRESSING CHALLENGES IN SCIENCE AND SOCIETY WITH LIVING MACHINES 2019(Jul.) Presenter:Umedachi, Takuya
Instant Inkjet Actuator and Sensor for Soft-bodied Crawling Robots 2019 IEEE International Conference on Robotics and Automation (ICRA 2019) 2019(May 20) Presenter:Tung D. Ta, Takuya Umedachi and Yoshihiro Kawahara
Caterpillar-inspired Crawling Robot using Both Compression and Bending Deformations 2019 IEEE International Conference on Robotics and Automation (ICRA 2019) 2019(May 20) Presenter:Umedachi, Takuya; Shimizu, Masahiro; Kawahara, Yoshihiro
Actuation Frequency-Dependent Automatic Behavioral Switching on Caterpillar-Inspired Crawling Robot 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft 2019) 2019(Apr. 14) Presenter:Umedachi, Takuya; Shimizu, Masahiro; Kawahara, Yoshihiro
Origami Robots with Flexible Printed Circuit Sheets UbiComp '18: Proceedings of the 2018 ACM International Joint Conference and 2018 International Symposium on Pervasive and Ubiquitous Computing and Wearable Computers 2018(Oct.) Presenter:Dongchi Lee, Kazuya Saito, Takuya Umedachi, Tung D. Ta, Yoshihiro Kawahara
Friction and Stride Variable Cylindrical Robot using Cylindrical Origami of Different Strength and One Actuator The 7th International Meeting on Origami in Science, Mathematics and Education (7OSME) 2018(Sep. 08) Presenter:Okuya, Fuminori; Umedachi, Takuya; Saito, Kazuya; Kawahara, Yoshihiro
段差を乗り越え壁面を登る尺取り虫を規範としたロボット 2018年電子情報通信学会総合大会 2018(Sep.) Presenter:森田雅博; 梅舘拓也; T. D. Ta; 川原圭博
Caterpillar-inspired Crawling Robot on a Stick using Active-release and Passive-grip Elastic Legs 2018 IEEE International Conference on Soft Robotics (RoboSoft 2018) 2018(Apr. 24) Presenter:Umedachi, Takuya; Kawahara, Yoshihiro
Learning Oscillator-based Gait Controller for String-form Soft Robots using Parameter-exploring Policy Gradients 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) 2018 Presenter:Ishige, Mathew; Umedachi, Takuya; Taniguchi, Tadahiro; Kawahara, Yoshihiro
Robustness of locomotion speed by decentralized controlled anchoring timing 2017年度大会 2017(Nov.) Presenter:Okuya, Fuminori; Umedachi, Takuya; Kawahara, Yoshihiro
Autonomous Decentralized Control for Soft-bodied Caterpillar-like Modular Robot Exploiting Large and Continuum Deformation 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) 2016(Nov. 11) Presenter:Umedachi, Takuya; Trimmer, Barry A.
Sensing Dynamic Properties and Interactions with the Environment: Proprioceptive Information for Soft-bodied Machines 7th Int. Symposium of Adaptive Motion of Animals and Machines (AMAM2015) 2015(Jun. 21) Presenter:Umedachi, Takuya; Trimmer, Barry A
Decentralized Control of 1D Crawling Locomotion by Exploiting “TEGOTAE” from Environment 7th Int. Symposium of Adaptive Motion of Animals and Machines (AMAM2015) 2015(Jun. 21) Presenter:Kano, Takeshi; Chiba, Hironori; Umedachi, Takuya; Ishiguro, Akio
Design of a 3D-Printed Soft Robot with Posture and Steering Control 2014 IEEE International Conference on Robotics and Automation (ICRA 2014) 2014(May 31) Presenter:Umedachi, Takuya; Trimmer, Barry A.
Autonomous Decentralized Control for Soft Bodied Robots Inspired by True Slime Mold The 1st International Symposium on Brainware LSI 2014(Mar. 28) Presenter:Umedachi, Takuya
連続性・大変形性を活用したイモムシ型ソフトロボットの自律分散制御 第26回自律分散システム・シンポジウム 2014(Jan. 24) Presenter:梅舘拓也; Trimmer, Barry A.
Highly Deformable 3-D Printed Soft Robot Generating Inching and Crawling Locomotions with Variable Friction Legs 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013) 2013(Nov. 06) Presenter:Umedachi, Takuya; Vishesh, Vikas; Trimmer, Barry A.
Locomotion diversity in an underwater soft-robot inspired by the polyclad flatworm 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013) 2013(Nov. 06) Presenter:Kazama, Toshiya; Kuroiwa, Koki; Umedachi, Takuya; Komatsu, Yuichi; Kobayashi, Ryo
A swimming machine driven by the deformation of a sheet-like body inspired by polyclad flatworms The International Conference on Biomimetic and Biohybrid Systems (Living Machines 2013) 2013(Jul. 29) Presenter:Kazama, Toshiya; Kuroiwa, Koki; Umedachi, Takuya; Komatsu, Yuichi; Kobayashi, Ryo
Caterpillar-like soft-bodied robot exploiting large-deformation continuum behavior 2013(Jul. 14) Presenter:Umedachi, Takuya; Vishesh, Vikas; Trimmer, Barry A
True-slime-mold-inspired hydrostatic-skeletal amoeboid aobot driven by fully decentralized control 6th International Symposium on Adaptive Motion of Animals and Machines (AMAM) 2013(Mar. 11) Presenter:Umedachi, Takuya; Idei, Ryo; Ito, Kentaro; Ishiguro, Akio
A True-Slime-Mold-Inspired Fluid-Filled Robot Exhibiting Versatile Behavior The International Conference on Boimimetic and Biohybrid Systems (Living Machines 2012) 2012(Jul. 12) Presenter:Umedachi, Takuya; Ide, Ryo; Ishiguro, Akio
A Fluid-filled Deformable Robot That Exhibits Spontaneous Switching among Versatile Spatio-temporal Oscillatory Patterns Inspired by True Slime Mold International Sympoium on Adaptive Motion in Animals and Machines (AMAM 2011) 2011(Oct. 12) Presenter:Umedachi, Takuya; Idei, Ryo; Ishiguro, Akio
A Fluid-filled Soft Robot That Exhibits Spontaneous Switching among Versatile Spatio-temporal Oscillatory Patterns Inspired by True Slime Mold 2nd International Conference on Morphological Computation (ICMC2011) 2011(Sep. 14) Presenter:Umedachi, Takuya; Idei, Ryo; Ishiguro, Akio
A Soft-bodied Fluid-driven Amoeboid Robot Inspired by Plasmodium of True Slime Mold 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010) 2010(Oct. 20) Presenter:Umedachi, Takuya; Takeda, Koichi; Nakagaki, Toshiyuki; Kobayashi, Ryo; Ishiguro, Akio
Orchestrating Large Degrees of Freedom –A Case Study with a Soft-bodied Amoeboid Robot– Unconventional Computation 2010(Jun. 23) Presenter:Umedachi, Takuya; Takeda, Koichi; Nakagaki, Toshiyuki; Kobayashi, Ryo; Ishiguro, Akio
Taming Large Degrees of Freedom -A Case Study with an Amoeboid Robot- International Conference on Robotics and Automation (ICRA 2010) 2010(May 06) Presenter:Umedachi, Takuya; Takeda, Koichi; Nakagaki, Toshiyuki; Kobayashi, Ryo; Ishiguro, Akio
Taming Many Degrees of Freedom -Fully Decentralized Control of a Soft-bodied Robot Inspired by True Slime Mold- IROS 2009 Mobiligence: Social Adaptive Functions in Animals and Multi-Agent Systems 2009(Oct. 11) Presenter:Takeda, Koichi; Umedachi, Takuya; Nakagaki, Toshiyuki; Kobayashi, Ryo; Ishiguro, Akio
A Modular Robot Driven by Protoplasmic Streaming The 9th International Symposium on Distributed Autonomous Robotic Systems 2008 (DARS2008) 2008(Dec. 17) Presenter:Umedachi, Takuya; Takeda, Koichi; Nakagaki, Toshiyuki; Kobayashi, Ryo; Ishiguro, Akio
A Fully Decentralized Morphology Control of an Amoeboid Robot by Exploiting the Law of Conservation of Protoplasmic Mass IEEE/RSJ International Conference on Intelligent Robots and Systems Workshops/Tutorial Proceedings CD-ROM 2008(Sep. 22) Presenter:Ishiguro, Akio; Umedachi, Takuya; Kitamura, Taichi; Nakagaki, Toshiyuki; Kobayashi, Ryo
A Fully Decentralized Control of an Amoeboid Robot by Exploiting the Law of Conservation of Protoplasmic Mass IEEE/RSJ International Conference on Robotics and Automation (ICRA2008) 2008(May 21) Presenter:Umedachi, Takuya; Kitamura,Taichi; Ishiguro, Akio
原形質量保存則を活用したアメーバ様ロボットの実機開発 ロボティクス・メカトロニクス講演会講演概要集 2008 _2A1-G01_1-_2A1-G01_4 2008 Presenter:北村 太一;梅舘 拓也;石黒 章夫 Keywords:Soft and deformable robot;eal-time tunable spring;Law of conservation of protoplasmic mass
Adaptive Amoeboid Locomotion That Exploits Law of Conservation of Protoplasmic Mass 2007(Sep. 20) Presenter:Umedachi, Takuya; Ishiguro, Akio
Amoeboid Locomotion That Exploits Real-time Tunable Springs and Law of Conservation of Protoplasmic Mass The 2nd International Symposium on Mobiligence 2007(Jul. 20) Presenter:Umedachi, Takuya; Ishiguro, Akio
可変弾性要素を活用した制御系と機構系のウェルバランスト・カップリング : 2次元ヘビ型ロボットを用いた事例研究 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems 19 233-238 2007(Jan. 29) Presenter:渡邉 航;梅舘 拓也;石黒 章夫 Keywords:2D Serpentine Robot;Emergence;Real-time tunable springs;Well-balanced coupling between control and mechanical systems
Development of Real-time Tunable Spring for Autonomous Moble Robots and next-generation Information Electronics The Join Int. Conf. of 4th Int. Sympo on System Construction of Global-network-oriented Information Electronics and Student-organizing Int. Mini-conf. on Information Electronics System 2007(Jan. 25) Presenter:Umedachi, Takuya; Ishiguro, Akio
可変弾性要素と原形質量保存則を活用したアメーバ様ロボット ロボティクス・メカトロニクス講演会講演概要集 2007 マルチエージェント・モジュールロボット _2A1-G02_1-_2A1-G02_4 2007 Presenter:梅舘 拓也;石黒 章夫 Keywords:Real-time tunable spring;Well-balanced coupling between control and mechanical systems;Law of conservation of protoplasmic mass
Development of a Fully Self-contained Real-time Tunable Spring 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems 2006(Oct. 11) Presenter:Umedachi, Takuya; Ishiguro, Akio
1P1-B23 高い実装性を有する実時間可変弾性機素の開発 : 拮抗筋型関節駆動機構への適用 ロボティクス・メカトロニクス講演会講演概要集 2006 _1P1-B23_1-_1P1-B23_4 2006 Presenter:梅舘 拓也;田中 直人;山田 康武;石黒 章夫 Keywords:Real-time Tunable Spring;Antagonistic Mechanism;Independent Control of Position and Stiffness
研究者総覧
