博士（工学）, 東北大学

Control and system engineering, Soft-bodied robotics

Control and system engineering, Control and systems engineering

2016 - 2019
The University of Tokyo, Lecturer

2014 - 2016
Tufts University, Dept. of Biology, JSPS Overseas Research Fellow

2012 - 2014
Tufts University, Dept. of Biology, JSPS Postdoctoral Fellow (PD)

2011 - 2012
Hiroshima Univ., Dept. of Mathematical and Life Sciences, JSPS Postdoctoral Fellow (PD)

2003 - 2005, Nagoya University, Graduate School of Engineering, Department of Computational Science and Engineering

1999 - 2003, Nagoya University, Department of Engineering, Physical Science and Engineering

Delicate Jamming Grasp: Detecting Deformation of Fragile Objects Using Permanent Magnet Elastomer Membrane.
Ho Enomoto; Matthew Ishige; Takuya Umedachi; Mitsuhiro Kamezaki; Yoshihiro Kawahara
IEEE Robotics Autom. Lett., 9(2), 979-986, Feb. 2024
Lead

Origami-based Invaginatable Soft Vacuum Actuators with Optimized Creases that Avoid Bending Stress Concentration
Keisuke Kayama; Noriyasu Iwamoto; Takuya Umedachi
Sensors and Materials, 35(9), 3109-3109, Sep. 2023
Corresponding

A single motor-driven continuum robot that can be designed to deform into a complex shape with curvature distribution
Daiki Yoshikawa; Masahiro Shimizu; Takuya Umedachi
ROBOMECH Journal, 10(1), Jul. 2023, Refereed, Invited
Last

A Crawling Robot That Utilizes Propagation of Deformation Waves of a Bistable Lattice Actuated by a Single Motor
Yuto Horioka; Masahiro Shimizu; Takuya Umedachi
2023 IEEE International Conference on Soft Robotics (RoboSoft), Apr. 2023, Refereed
Last

Planar Conformal Deformation of Robotic S-Isothermic Surface
Noriyasu Iwamoto; Daiki Kusakabe; Takuya Umedachi
IEEE Robotics and Automation Letters, 7(4), 11531-11536, Oct. 2022, Refereed, Not invited
Lead

Upside-Down Brachiation Robot Using Elastic Energy Stored Through Soft Body Deformation
Kisuke Nonoyama; Masahiro Shimizu; Takuya Umedachi
IEEE Robotics and Automation Letters, 7(4), 11291-11297, Oct. 2022, Refereed, Not invited
Corresponding

Printable Origami Bistable Structures for Foldable Jumpers
Tung D. Ta; Zekun Chang; Koya Narumi; Takuya Umedachi; Yoshihiro Kawahara
2022 International Conference on Robotics and Automation (ICRA), May 2022
Lead

Diverse Behaviors of a Single-Motor-Driven Soft-Bodied Robot Utilizing the Resonant Vibration of 2D Repetitive Slit Patterns
Satoshi Iyobe; Masahiro Shimizu; Takuya Umedachi
IEEE Robotics and Automation Letters, 7(2), 992-999, Apr. 2022, Refereed, Not invited
Last

A Printable Soft-bodied Wriggle Robot with Frictional 2D-anisotropy Surface
Tung D. Ta; Takuya Umedachi; Michiyo Suzuki; Yoshihiro Kawahara
Journal of Information Processing, 30, 201-208, 2022, Refereed, Not invited
Lead

Dynamic Model Identification for Insect Electroantennogram with Printed Electrode
Naoki Yamada; Hirono Ohashi; Takuya Umedachi; Masahiro Shimizu; Koh Hosoda; Shunsuke Shigaki
Sensors and Materials, 33(12), 4173-4173, Dec. 2021, Refereed
Lead

Continuum Robotic Caterpillar with Wirelessly Powered Shape Memory Alloy Actuators
Colm Mc Caffrey; Takuya Umedachi; Weiwei Jiang; Takuya Sasatani; Yoshiaki Narusue; Ryuma Niiyama; Yoshihiro Kawahara
Soft Robotics, 7(6), 700-710, Dec. 2020, Refereed, Not invited
Lead

Caterpillar-inspired soft robot that locomotes upside-down by utilizing environmental skeleton
Masahiro Morishima, Takuya Umedachi, Yoshihiro Kawahara
Engineering Research Express, 2(3), 035022-035022, Sep. 2020, Refereed, Not invited
Lead

Ramus: A Frequency-Multiplexed Power Bus for Powering, Sensing and Controlling Robots
Nishizawa, Yuki; Sasatani, Takuya; Ishige, Matthew; Narusue, Yoshiaki; Umedachi, Takuya; Kawahara, Yoshihiro
IEEE ROBOTICS AND AUTOMATION LETTERS, 5(3), 4126-4132, Jul. 2020, Refereed, Not invited
Lead

Demonstration of Teleoperated Bumblebee-Quadcopter System for Collision Avoidance
Shunsuke Shigaki; Masahiro Shimizu; Hiroki Kobayashi; Risa Ishiguro; Takuya Umedachi; Koh Hosoda
2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020, 188-193, May 2020
Lead

Balloon-like coupling between head and posterior in a caterpillar
Okuya, Fuminori; Umedachi, Takuya; Kawahara, Yoshihiro
ADAPTIVE BEHAVIOR, 29(4), Mar. 2020, Refereed
Lead

Blind Bin Picking of Small Screws Through In-finger Manipulation With Compliant Robotic Fingers.
Matthew Ishige; Takuya Umedachi; Yoshihisa Ijiri; Tadahiro Taniguchi; Yoshihiro Kawahara
IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), 9337-9344, 2020
Lead

A Multigait Stringy Robot with Bi-stable Soft-bodied Structures in Multiple Viscous Environments.
Tung D. Ta; Takuya Umedachi; Yoshihiro Kawahara
IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), 8765-8772, 2020
Lead

In-Hand Small-Object Counting from Tactile Sensor Arrays Installed on Soft Fingertips.
Matthew Ishige; Takuya Umedachi; Yoshihisa Ijiri; Yoshihiro Kawahara
3rd IEEE International Conference on Soft Robotics(RoboSoft), 272-277, 2020
Lead

Cell Culturing on Electrical Circuit with Printed Electronics Technics
Masahiro Shimizu; Hiroki Kawashima; Takuya Umedachi; Shunsuke Shigaki; Toshihiko Ogura; Koh Hosoda
MHS 2019 - 30th 2019 International Symposium on Micro-NanoMechatronics and Human Science, Dec. 2019
Lead

Exploring Behaviors of Caterpillar-Like Soft Robots with a Central Pattern Generator-Based Controller and Reinforcement Learning
Matthew Ishige; Takuya Umedachi; Tadahiro Taniguchi; Yoshihiro Kawahara
Soft Robotics, 6(5), 579-594, Oct. 2019, Refereed
Lead

Self-organizing cell tactile perception which depends on mechanical stimulus history
Shimizu, Masahiro; Minzan, Kosuke; Kawashima, Hiroki; Miyasaka, Kota; Umedachi, Takuya; Ogura, Toshihiko; Nakai, Junichi; Ohkura, Masamichi; Hosoda, Koh
ADVANCED ROBOTICS, 33(5), 232-242, Mar. 2019, Refereed, Not invited
Lead

Evaluation of 3D-Bioprinted Materials and Culture Methods Toward Actuator Driven by Skeletal Muscle Cells
Naoki Yamada; Masahiro Shimizu; Takuya Umedachi; Toshihiro Ogura; Koh Hosoda
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 11556, 374-377, 2019
Lead

日本ロボット学会第115回ロボット工学セミナー実施報告書
梅舘 拓也
日本ロボット学会誌, 37(1), 67-68, 2019
Lead

How to Make Useful Soft-bodied Robots Inspired by Animals
Takuya Umedachi
Journal of the Robotics Society of Japan, 37(1), 12-15, 2019
Lead, Last, Corresponding

Inkjet Printable Actuators and Sensors for Soft-bodied Crawling Robots.
Tung D. Ta; Takuya Umedachi; Yoshihiro Kawahara
International Conference on Robotics and Automation(ICRA), 3658-3664, 2019, Refereed, Not invited
Lead

Actuation Frequency-dependent Automatic Behavioral Switching on Caterpillar-inspired Crawling Robot.
Takuya Umedachi; Masahiro Shimizu; Yoshihiro Kawahara
IEEE International Conference on Soft Robotics, RoboSoft 2019, Seoul, South Korea, April 14-18, 2019, 167-171, 2019, Refereed, Not invited
Lead

Caterpillar-Inspired Crawling Robot Using Both Compression and Bending Deformations.
Takuya Umedachi; Masahiro Shimizu; Yoshihiro Kawahara
IEEE Robotics and Automation Letters, 4(2), 670-676, 2019, Refereed, Not invited
Lead

From slime molds to soft deformable robots
Akio Ishiguro; Takuya Umedachi
Living Machines: A Handbook of Research in Biomimetic and Biohybrid Systems, 390-394, Jan. 2018
Lead

Origami Robots with Flexible Printed Circuit Sheets.
Dongchi Lee; Kazuya Saito; Takuya Umedachi; Tung D. Ta; Yoshihiro Kawahara
Proceedings of the 2018 ACM International Joint Conference and 2018 International Symposium on Pervasive and Ubiquitous Computing and Wearable Computers, 392-395, 2018
Lead

Learning Oscillator-Based Gait Controller for String-Form Soft Robots Using Parameter-Exploring Policy Gradients.
Matthew Ishige; Takuya Umedachi; Tadahrio Taniguchi; Yoshihiro Kawahara
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, October 1-5, 2018, 6445-6452, 2018, Refereed, Not invited
Lead

Caterpillar-inspired crawling robot on a stick using active-release and passive-grip elastic legs.
Takuya Umedachi; Yoshihiro Kawahara
IEEE International Conference on Soft Robotics, RoboSoft 2018, Livorno, Italy, April 24-28, 2018, 461-466, 2018, Refereed, Not invited
Lead

Design of Frictional 2D-Anisotropy Surface for Wriggle Locomotion of Printable Soft-Bodied Robots.
Tung D. Ta; Takuya Umedachi; Yoshihiro Kawahara
2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, May 21-25, 2018, 6779-6785, 2018, Refereed, Not invited
Lead

Response to various periods of mechanical stimuli in Physarum plasmodium
Takuya Umedachi; Kentaro Ito; Ryo Kobayashi; Akio Ishiguro; Toshiyuki Nakagaki
JOURNAL OF PHYSICS D-APPLIED PHYSICS, 50(25), 254002-254002, Jun. 2017, Refereed, Not invited
Lead

Modelling Oscillatory Behaviour of Slime Mould
Umedachi, Takuya; Ishiguro, Akio
Advances in Physarum Machines, Emergence, Complexity and Computation book series (ECC, volume 21), 479-488, 2017, Refereed, Invited
Lead, Corresponding

Gait control in a soft robot by sensing interactions with the environment using self-deformation
Takuya Umedachi; Takeshi Kano; Akio Ishiguro; Barry A. Trimmer
Royal Society Open Science, 3(12), 160766-160766, Dec. 2016, Refereed, Not invited
Lead

Autonomous decentralized control for soft-bodied caterpillar-like modular robot exploiting large and continuum deformation
Takuya Umedachi; Barry A. Trimmer
IEEE International Conference on Intelligent Robots and Systems, 2016-, 292-297, Nov. 2016
Lead

Softworms: the design and control of non-pneumatic, 3D-printed, deformable robots
T Umedachi; V Vikas; B A Trimmer
Bioinspiration & Biomimetics, 11(2), 025001-025001, Mar. 2016, Refereed, Not invited
Lead, Corresponding

Decentralized Control of 1D Crawling Locomotion by Exploiting ‘TEGOTAE’ from Environment
Takeshi Kano; Hironori Chiba; Takuya Umedachi; Akio Ishiguro
Proc. of The First International Symposium on Swarm Behavior and Bio-Inspired Robotics(SWARM2015), 279-282, Oct. 2015, Refereed, Not invited
Lead

TEGOTAE-based control for one-dimensional crawling locomotion
Takeshi Kano; Hironori Chiba; Takuya Umedachi; Akio Ishiguro
Proceedings of The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015), Jun. 2015, Refereed, Not invited
Lead

Decentralized Control of 1D Crawling Locomotion That Exploits Cutaneous Sensory Feedback
千葉大徳; 加納剛史; 梅舘拓也; 石黒章夫
日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2015），講演論文集(CD-ROM), 2A2-S03, May 2015, Not invited
Lead

Enhancing adaptability of amoeboid robot by synergetically coupling two decentralized controllers inspired by true slime mold
Takuya Umedachi; Shunya Horikiri; Ryo Kobayashi; Akio Ishiguro
Adaptive Behavior, 23(2), 109-121, Mar. 2015, Refereed, Not invited
Lead, Corresponding

Soft-bodied amoeba-inspired robot that switches between qualitatively different behaviors with decentralized stiffness control
Takuya Umedachi; Kentaro Ito; Akio Ishiguro
Adaptive Behavior, 23(2), 97-108, Jan. 2015, Refereed, Not invited
Lead, Corresponding

Soft-bodied Amoeboid Robots Maneuvered by Fully Decentralized Control Inspired by Plasmodium of True Slime Mold
UMEDACHI Takuya
Journal of The Society of Instrument and Control Engineers, 54(4), 242-247, 2015, Refereed, Invited
Lead, Corresponding

Design of a 3D-printed soft robot with posture and steering control
Takuya Umedachi; Barry A. Trimmer
Proceedings - IEEE International Conference on Robotics and Automation, 2874-2879, Sep. 2014
Lead

Decentralized-Controlled Amoeboid Robot with High Deformability Inspired by Plasmodium of True Slime Mold
堀切舜哉; 梅舘拓也; 石黒章夫
日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2014），講演論文集(CD-ROM), 1A1-V01, May 2014, Not invited
Lead

Morphological Computation with Hydrostatic Interaction between Mechanosensory Oscillators
Umedachi, Takuya; Ishiguro, Akio
E-book on Opinions and Outlook on Morphological Computation, 119-130, 2014, Refereed
Lead

True-slime-mould-inspired hydrostatically coupled oscillator system exhibiting versatile behaviours
Takuya Umedachi; Ryo Idei; Kentaro Ito; Akio Ishiguro
Bioinspiration & Biomimetics, 8(3), 035001-035001, Aug. 2013, Refereed, Not invited
Lead, Corresponding

A Fluid-Filled Soft Robot That Exhibits Spontaneous Switching Among Versatile Spatiotemporal Oscillatory Patterns Inspired by the True Slime Mold
Takuya Umedachi; Ryo Idei; Kentaro Ito; Akio Ishiguro
Artificial Life, 19(1), 67-78, Jan. 2013, Refereed, Invited
Lead

Highly Deformable Amoeboid Robot That Negotiates Environments by Using Pseudopods
出井遼; 梅舘拓也; 伊藤賢太郎; 小林亮; 石黒章夫
第25回自律分散システムシンポジウム資料集, 139-144, Jan. 2013, Not invited
Lead

Analysis of Spontaneous Pttern Switching of Fluid-Mass-Conserving Coupled Oscillator System Inspired by True Slime Mold
伊藤賢太郎; 出井遼; 梅舘拓也; 小林亮; 石黒章夫
第25回自律分散システムシンポジウム資料集, 43-46, Jan. 2013, Not invited
Lead

Locomotion diversity in an underwater soft-robot inspired by the polyclad flatworm
Toshiya Kazama; Koki Kuroiwa; Takuya Umedachi; Yuichi Komatsu; Ryo Kobayashi
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2083-2083, 2013, Refereed, Not invited
Lead

A Swimming Machine Driven by the Deformation of a Sheet-Like Body Inspired by Polyclad Flatworms
Toshiya Kazama; Koki Kuroiwa; Takuya Umedachi; Yuichi Komatsu; Ryo Kobayashi
Biomimetic and Biohybrid Systems, 8064, 390-392, 2013, Refereed, Not invited
Lead

Realization of Hydrostatic Skeleton Robot That Exhibits Versatile Behaviors Inspired by Plasmodium of True Slime Mold
出井遼; 梅舘拓也; 伊藤賢太郎; 石黒章夫
計測自動制御学会システムインテグレーション部門 講演会予稿集（CD-ROM), 0944-0948, Dec. 2012, Not invited
Lead

質的に異なる振る舞いを状況依存的に発現可能なアメーバ様ロボットの自律分散制御
出井遼; 梅舘拓也; 伊藤賢太郎; 石黒章夫
第30回日本ロボット学会学術講演会，予稿集(CD-ROM), 1D2-2-1D2-2, Sep. 2012, Not invited
Lead

多様な時空間振動パターンを創発する真正粘菌様ロボット
梅舘拓也; 出井遼; 伊藤賢太郎; 石黒章夫
第18回創発システム・シンポジウム講演資料集, P39-P39, Sep. 2012, Not invited
Lead

真正粘菌変形体から着想を得た適応的運動機能を生み出す数理モデル
梅舘拓也; 出井遼; 伊藤賢太郎; 石黒章夫
第22回数理生物学会年会予稿集, P-21-P-21, Sep. 2012, Not invited
Lead

粘菌の振動パターン間遷移を説明するためのシリンダー結合モデル
伊藤賢太郎; 出井遼; 梅舘拓也; 石黒章夫
第22回数理生物学会年会予稿集, P-39-P-39, Sep. 2012, Not invited
Lead

振動子に駆動されるシリンダー結合系に現れるパターン遷移
伊藤賢太郎; 出井遼; 梅舘拓也; 石黒章夫
日本物理学会講演概要集, 21aAE-11-21aAE-11, Sep. 2012, Not invited
Lead

内部流体を介して相互作用するモジュール結合系における自発的振動パターン間遷移
伊藤賢太郎; 出井遼; 梅舘拓也; 石黒章夫
広島大学数理分子生命理学専攻第4回公開シンポジウム資料集, P38-P38, Sep. 2012, Not invited
Lead

Fluid-Filled Soft-Bodied Amoeboid Robot Inspired by Plasmodium of True Slime Mold
Takuya Umedachi; Ryo Idei; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
Advanced Robotics, 26(7), 693-707, Jan. 2012, Refereed, Not invited
Lead, Corresponding

Realization of a True Slime Mold-inspired Robot That Exhibits Versatile Spatio-temporal Oscillatory Patterns
出井遼; 梅舘拓也; 石黒章夫
第24回自律分散システム・シンポジウム予稿集, 169-174, Jan. 2012, Not invited
Lead

A True-Slime-Mold-Inspired Fluid-Filled Robot Exhibiting Versatile Behavior
Takuya Umedachi; Ryo Idei; Akio Ishiguro
Biomimetic and Biohybrid Systems, 7375, 262-273, 2012, Refereed, Not invited
Lead, Corresponding

A Fluid-filled Deformable Robot That Exhibits Spontaneous Switching among Versatile Spatio-temporal Oscillatory Patterns Inspired by True Slime Mold
Takuya Umedachi; Ryo Idei; Akio Ishiguro
Proc. of the 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011), 65-66, Oct. 2011, Refereed, Not invited
Lead

A Fluidic-interacted Modular Robot That Exhibits Versatile Spatio-temporal Oscillatory Patterns Inspired by Slime Mold
梅舘 拓也; 出井 遼; 石黒 章夫
第17回創発システム・シンポジウム予稿集, 127-130, Sep. 2011, Not invited
Lead

Fully Decentralized Control Inspired by Plasmodium of True Slime Mold
梅舘 拓也; 出井 遼; 中垣 俊之; 小林 亮; 石黒 章夫
第2回領域シンポジウム「越境する数学」?CREST研究報告会?, 40, Sep. 2011, Not invited
Lead

真正粘菌変形体が示す多様な時空間パターンの発現機序
出井遼; 梅舘拓也; 伊藤賢太郎; 石黒章夫
第21回日本数理生物学会予稿集, 131, Sep. 2011, Not invited
Lead

A Fluid-filled Soft Robot That Exhibits Spontaneous Switching among Versatile Spatio-temporal Oscillatory Patterns Inspired by True Slime Mold
Takuya Umedachi; Ryo Idei; Akio Ishiguro
Proc. of 2nd International Conference on Morphological Computation ICMC2011, 54-56, Sep. 2011, Refereed, Not invited
Lead

A Slime Mold-inspired Fluid-filled Robot That Exhibits Versatile Spatio-temporal Oscillatory Patterns
出井遼; 梅舘拓也; 石黒章夫
日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2011）予稿集, 1A1-K05, May 2011, Not invited
Lead

Simulation of a Soft-bodied Fluid-driven Amoeboid Robot That Exploits Thixotropic Flow
Takuya Umedachi; Masakazu Akiyama; Atsushi Tero; Akio Ishiguro
Proc. of 2011 IEEE International Conference on Robotics and Automation, 5123-5128, May 2011, Refereed, Not invited
Lead

A Soft Deformable Amoeboid Robot Inspired by Plasmodium of True Slime Mold
Takuya Umedachi; Koichi Takeda; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
INTERNATIONAL JOURNAL OF UNCONVENTIONAL COMPUTING, 7(6), 449-462, 2011, Refereed, Not invited
Lead, Corresponding

Locomotion Control of an Amoeboid Robot That Exploits Thixotropic Flow
梅舘拓也; 秋山正和; 手老篤史; 石黒章夫
第53回自動制御連合講演会予稿集, 295-299, Nov. 2010, Not invited
Lead

Experimental Verification of Fully Decentralized Control Inspired by Plasmodium of True Slime Mold
Takuya UMEDACHI; Koichi TAKEDA; Toshiyuki NAKAGAKI; Ryo KOBAYASHI; Akio ISHIGURO
Transactions of the Society of Instrument and Control Engineers, 46(11), 706-712, Nov. 2010, Refereed, Not invited
Lead, Corresponding

Adaptive Behavior by Exploiting Tensegrity Structure
Kazuya Suzuki; Masahiro Shimizu; Takeshi Kano; Takuya Umedachi; Akio Ishiguro
Proc. of The 3rd Student Organizing International Mini-Conference on Information Electronics Systems, pp.174 F7P-10, Oct. 2010, Not invited
Lead

A Soft-bodied Fluid-driven Amoeboid Robot Inspired by Plasmodium of True Slime Mold
Takuya Umedachi; Koichi Takeda; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
Proc. of 2010 IEEE International Conference on Robotics and Systems, 2401-2406, Oct. 2010, Refereed, Not invited
Lead

Modeling of Amoeboid Locomotion That Exploits Thixotropic Flow
梅舘拓也; 秋山正和; 手老篤史; 石黒章夫
第20回日本数理生物学会予稿集, 127P-10, Sep. 2010, Not invited
Lead

Decentralized Control That Exploits Global Interaction Stemming from Fluidic Circuit -Experimental Verification using a Soft-bodied Amoeboid Robot-
武田光一; 出井遼; 梅舘拓也; 中垣俊之; 小林亮; 石黒章夫
第28回日本ロボット学会学術講演会予稿集, AC3N2-7, Sep. 2010, Not invited
Lead

Autonomous Decentralized Control of a Fluid-driven Amoeboid Soft Robot
Koichi Takeda; Ryo Idei; Takuya Umedachi; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
第259回SICE東北支部研究集会, 259-9, Jul. 2010, Not invited
Lead

原形質量保存則を活用した流体駆動型アメーバ様ソフトロボット
武田光一; 梅舘拓也; 中垣俊之; 小林亮; 石黒章夫
日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2010）予稿集, Jun. 2010, Not invited
Lead

Orchestrating Large Degrees of Freedom -A Case Study with a Soft-bodied Amoeboid Robot-
Takuya Umedachi; Koichi Takeda; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
Proc. of 9th International Conference on Unconventional Computation, Jun. 2010, Invited
Lead

Fully decentralized control of a soft-bodied robot inspired by true slime mold
Takuya Umedachi; Koichi Takeda; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
Biological Cybernetics, 102(3), 261-269, Mar. 2010, Refereed, Not invited
Lead, Corresponding

Development of an Amoeboid Soft-bodied Robot That Exploits Law of Conservation of Protoplasmic Mass
武田光一; 梅舘拓也; 中垣俊之; 小林亮; 石黒章夫
第22回自律分散システム・シンポジウム, Jan. 2010, Not invited
Lead

Taming Many Degrees of Freedom Fully Decentralized Control of a Soft-bodied Robot Inspired by True Slime Mold
Koichi Takeda; Takuya Umedachi; Akio Ishiguro
The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, SuT5, 50-55, Oct. 2009, Refereed, Not invited
Lead

Understanding Autonomous Decentralized Control of Many-Degree-of-Freedom from Amoeboid Locomotion
武田光一; 梅舘拓也; 中垣俊之; 小林亮; 石黒章夫
第15回創発システム・シンポジウム, P02 83-86, Aug. 2009, Not invited
Lead

Experimental Verification of a Soft-bodied Robot with Large D.O.F Inspired by True Slime Mold
武田光一; 北村太一; 梅舘拓也; 中垣俊之; 小林亮; 石黒章夫
ロボティクス・メカトロニクス講演会2009予稿集, 2A2-F22, May 2009, Not invited
Lead

原形質量保存側を活用した大自由度アメーバ様ロボットの 自律分散制御
梅舘拓也; 北村太一; 武田光一; 中垣俊之; 小林亮; 石黒章夫
リズム現象の研究会IV, Poster5, Jan. 2009, Refereed, Not invited
Lead

Development of a Soft and Supple Robot Inspired from True Slime
武田 光一; 北村 太一; 梅舘 拓也; 中垣 俊之; 小林 亮; 石黒 章夫
第21回自律分散システム・シンポジウムProceedings, Jan. 2009, Not invited
Lead

A Modular Robot Driven by Protoplasmic Streaming
Takuya Umedachi; Taichi Kitamura; Koichi Takeda; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
Distributed Autonomous Robotic Systems 8, 8, 193-202, 2009, Refereed, Not invited
Lead, Corresponding

An Autonomous Decentralized Control of a Soft and Supple Robot Inspired from True Slime Mold
北村 太一; 梅舘 拓也; 武田 光一; 中垣 俊之; 小林 亮; 石黒 章夫
計測自動制御学会SI部門講演会SI2008予稿集, 139-140, Dec. 2008, Not invited
Lead

A Fully Decentralized Morphology Control of an Amoeboid Robot by Exploiting the Law of Conservation of Protoplasmic Mass
Akio Ishiguro; Takuya Umedachi; Taichi Kitamura; Toshiyuki Nakagaki; Ryo Kobayashi
IEEE/RSJ 2008 International Conference on Intelligent RObots and Systems, 2008, 1144-1149, Sep. 2008, Refereed, Not invited
Lead

Autonomous Decentralized Control of an Amoeboid Robot by Exploiting Global Interaction Stemming from Protoplasm
北村 太一; 梅舘 拓也; 武田 光一; 中垣 俊之; 小林 亮; 石黒 章夫
第26回 日本ロボット学会学術講演会 予稿集, 3H1-05, Sep. 2008, Not invited
Lead

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コモーションの実現
北村太一; 梅舘拓也; 石黒章夫
第243回SICE東北支部研究集会, 243-6, Jun. 2008, Not invited
Lead

An Amoeboid Locomotion That Exploits Real-Time Tunable Springs and Law of Conservation of Protoplasmic Mass
Takuya Umedachi; Taichi Kitamura; Akio Ishiguro
Journal of Robotics and Mechatronics, 20(3), 449-455, Jun. 2008, Refereed, Not invited
Lead, Corresponding

An Autonomous Decentralized Locomotion Control of an Amoeboid Robot That Exploits the Law of Conservation of Protoplasmic Mass
Takuya Umedachi; Taichi Kitamura; Akio Ishiguro
第3回移動知シンポジウム, Mar. 2008, Not invited
Lead

Adaptive Amoeboid Locomotion That Exploits Law of Conservation of Protoplasmic Mass
Takuya Umedachi; Akio Ishiguro
SICE 2007 PROCEEDINGS, 2150-2154, Sep. 2007, Refereed, Not invited
Lead

Amoeboid Locomotion That Exploits Real-time Tunable Springs and Law of Conservation of Protoplasmic Mass
Takuya Umedachi; Akio Ishiguro
Proc. of the 2nd International Symposium on Mobiligence, 263-266, Jul. 2007, Refereed, Not invited
Lead

Well-balanced Coupling between Control and Mechanical Systems via Real-time Tunable Springs -- A Case Study with a 2D Serpentine Robot --
Wataru Watanabe; Takuya Umedachi; Akio Ishiguro
ロボティクス・メカトロニクス講演会2007, 2A1-B11, May 2007, Not invited
Lead

Development of a Real-Time Tunable Spring - Toward Independent Control of Position and Stiffness of Joints -
Takuya Umedachi; Yasutake Yamada; Akio Ishiguro
Journal of Robotics and Mechatronics, 19(1), 27-33, Feb. 2007, Refereed, Not invited
Lead, Corresponding

Well-balanced Coupling between Control and Mechanical Systems Based on the Diversity in Motion Trajectory --A Case Study with a Bipedal Walking Robot--
Wataru Watanabe; Takuya Umedachi; Akio Ishiguro
第19回 自律分散システム・シンポジウム資料, 233-238, Jan. 2007, Not invited
Lead

A Development of a Fully Self-contained Real-time Tunable Spring
Takuya Umedachi; Akio Ishiguro
PROCEEDINGS OF IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 1662-1667, Oct. 2006, Refereed, Not invited
Lead

Development of a Highly Implementable Real-time Tunable Spring - Application to an Antagonistically Driven Joint -
梅舘 拓也; 田中 直人; 山田 康武; 石黒 章夫
ロボティクス・メカトロニクス講演会2006, 2006, 1P1-B23-B23(1)"-"1P1-B23(4)", May 2006, Not invited
Lead

Caterpillar-inspired soft robot that locomotes upside-down by utilizing environmental skeleton
Masahiro Morishima, Takuya Umedachi, Yoshihiro Kawahara

A single motor-driven continuum robot that can be designed to deform into a complex shape with curvature distribution
Daiki Yoshikawa; Masahiro Shimizu; Takuya Umedachi
Last

ソフトロボットにおける外部環境を骨格として利用するための制御手法
森島正博; 梅舘拓也; 川原圭博
電子情報通信学会大会講演論文集(CD-ROM), 2019, 2019
Lead

形状記憶合金アクチュエータの収縮タイミング制御で這行運動を生成するシンプルな折紙型ロボット
李 東池; 斉藤 一哉; 梅舘 拓也; 川原 圭博
第80回全国大会講演論文集, 2018(1), 349 - 350, 13 Mar. 2018
Lead

円筒折を用いた単一アクチュエータで直線上の物体上を進行するロボット
奥谷 文徳; 梅舘 拓也; 斉藤 一哉; 川原 圭博
第80回全国大会講演論文集, 2018(1), 145 - 146, 13 Mar. 2018
Lead

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
森田雅博; 梅舘拓也; TUNG Ta Duc; 川原圭博
電子情報通信学会大会講演論文集(CD-ROM), 2018, 2018
Lead

2A1-K01 A Large Degree-of-Freedom Modular Robot Exhibiting Versatile Behavior Inspired by Plasmodium of True Slime Mold(Robotic Systems Based on Autonomous Decentralized Architecture)
IDEI Ryo; UMEDACHI Takuya; ITO Kentaro; ISHIGURO Akio
ロボティクス・メカトロニクス講演会講演概要集, 2012, "2A1 - K01(1)"-"2A1-K01(4)", 27 May 2012
Lead

2A1-G02 An Amoeboid Robot That Exploits Real-time Tunable Springs and Law of Conservation of Protoplasmic Mass
UMEDACHI Takuya; ISHIGURO Akio
ロボティクス・メカトロニクス講演会講演概要集, 2007, "2A1 - G02(1)"-"2A1-G02(4)", 11 May 2007
Lead

1P2-S-005 Development of a Real-time Tunable Spring : Toward Independent Control of Position and Stiffness of Joints(Flexible Mechanism,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
Umedachi Takuya; Kishi Hiroaki; Yamada Yasutake; Ishiguro Akio
ロボティクス・メカトロニクス講演会講演概要集, 2005, 120 - 120, 09 Jun. 2005
Lead

Development of a Real-time Tunable Elastic Element with ER Fluid
Umedachi T; Aoki T; Masubuchi Y; Doi M; Ishiguro A
ロボティクス・メカトロニクス講演会講演概要集, 2004, 111 - 111, 18 Jun. 2004
Lead

A Multigait Stringy Robot with Bi-Stable Soft-Bodied Structures in Multiple Viscous Environments
T. D. Ta, T. Umedachi, and Y. Kawahara
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2020, IEEE/RSJ,

Blind Bin Picking of Small Screws Through In-finger Manipulation With Compliant Robotic Fingers
Ishige, Matthew; Umedachi, Takuya; Ijiri, Yoshihisa; Taniguchi, Tadahiro; Kawahara, Yoshihiro
2020 IEEE/RSJ International Conference one Intelligent Robots and System (IROS), Oct. 2020, IEEE/RSJ,

複数Living Hingeの共振を活用した単モータ駆動ロボットの多様な動き
伊與部 聡; 清水 正宏; 梅舘 拓也
第38回日本ロボット学会学術講演会(RSJ2020), Oct. 2020, 日本ロボット学会

変形分布を可視化する多色パターン3D Printed Fabricの開発
花岡 航平; 清水 正宏; 梅舘 拓也
第38回日本ロボット学会学術講演会(RSJ2020), Oct. 2020, 日本ロボット学会

Ramus: A Frequency-Multiplexed Power Bus for Powering, Sensing and Controlling Robots
Yuki Nishizawa, Takuya Sasatani, Matthew Ishige, Yoshiaki Narusue, Takuya Umedachi, Yoshihiro Kawahara
IEEE International Conference on Soft Robotics 4126-4132, Apr. 2020, IEEE,

Demonstration of Teleoperated Bumblebee-Quadcopter System for Collision Avoidance
Shunsuke Shigaki, Masahiro Shimizu, Hiroki Kobayashi, Risa Ishiguro, Takuya Umedachi, Koh Hosoda
IEEE International Conference on Soft Robotics 188-193, Apr. 2020, IEEE,

In-Hand Small-Object Counting from Tactile Sensor Arrays Installed on Soft Fingertips
Matthew Ishige, Takuya Umedachi, Yoshihisa Ijiri, Yoshihiro Kawahara
IEEE International Conference on Soft Robotics, Apr. 2020, IEEE,

Electroantennography Measurement by Printed Electronics Electrode
Naoki Yamada, Shunsuke Shigaki, Masahiro Shimizu, Hirono Ohashi, Takuya Umedachi, Toshihiko Ogura, Koh Hosoda
2020 IEEE/SICE International Symposium on System Integration (SII), Jan. 2020, IEEE/SICE,

ソフトロボットにおける外部環境を骨格として利用するための制御手法
森島正博; 梅舘拓也; 川原圭博
2019年電子情報通信学会総合大会, Sep. 2019, 電子情報通信学会

Soft-bodied caterpillar-like testbed developed with digital fabrication to close Vico’s loop (Invited talk)
Umedachi, Takuya
2019 Living Machines Conference, Workshop: CLOSING VICO’S LOOP: ADDRESSING CHALLENGES IN SCIENCE AND SOCIETY WITH LIVING MACHINES, Jul. 2019, Invited

Instant Inkjet Actuator and Sensor for Soft-bodied Crawling Robots
Tung D. Ta, Takuya Umedachi and Yoshihiro Kawahara
2019 IEEE International Conference on Robotics and Automation (ICRA 2019), May 2019, IEEE,

Actuation Frequency-Dependent Automatic Behavioral Switching on Caterpillar-Inspired Crawling Robot
Umedachi, Takuya; Shimizu, Masahiro; Kawahara, Yoshihiro
2019 2nd IEEE International Conference on Soft Robotics (RoboSoft 2019), Apr. 2019, IEEE,

Origami Robots with Flexible Printed Circuit Sheets
Dongchi Lee, Kazuya Saito, Takuya Umedachi, Tung D. Ta, Yoshihiro Kawahara
UbiComp '18: Proceedings of the 2018 ACM International Joint Conference and 2018 International Symposium on Pervasive and Ubiquitous Computing and Wearable Computers, Oct. 2018,

Friction and Stride Variable Cylindrical Robot using Cylindrical Origami of Different Strength and One Actuator
Okuya, Fuminori; Umedachi, Takuya; Saito, Kazuya; Kawahara, Yoshihiro
The 7th International Meeting on Origami in Science, Mathematics and Education (7OSME), Sep. 2018

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
森田雅博; 梅舘拓也; T. D. Ta; 川原圭博
2018年電子情報通信学会総合大会, Sep. 2018, 電子情報通信学会

Caterpillar-inspired Crawling Robot on a Stick using Active-release and Passive-grip Elastic Legs
Umedachi, Takuya; Kawahara, Yoshihiro
2018 IEEE International Conference on Soft Robotics (RoboSoft 2018), Apr. 2018, IEEE,

強化学習を用いた一次元ひも状ソフトロボットの力覚フィードバック機構の耐故障性の検証
石毛真修; 梅舘拓也; 谷口忠大; 川原圭博
2018年電子情報通信学会総合大会, Mar. 2018, 電子情報通信学会

単一アクチュエータで直線状の物体上を進行する円筒折の内径の変化を用いたロボット
奥谷文徳; 梅舘拓也; 斉藤一哉; 川原圭博
第80回全国大会, Mar. 2018, 情報処理学会

形状記憶合金アクチュエータの収縮タイミング制御で這行運動を生成するシンプルな折紙型ロボット
李東池; 斉藤一哉; 梅舘拓也; 川原圭博
第80回全国大会, Mar. 2018, 情報処理学会

Learning Oscillator-based Gait Controller for String-form Soft Robots using Parameter-exploring Policy Gradients
Ishige, Mathew; Umedachi, Takuya; Taniguchi, Tadahiro; Kawahara, Yoshihiro
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, IEEE/RSJ,

Robustness of locomotion speed by decentralized controlled anchoring timing
Okuya, Fuminori; Umedachi, Takuya; Kawahara, Yoshihiro
2017年度大会, Nov. 2017, 日本比較生理生物学会

イモムシ型ロボットの振動子モデルへ体長の制約の付加による影響の考察
奥谷文徳; 梅舘拓也; 川原圭博
第27回日本数理生物学会年会, Oct. 2017, 日本数理生物学会

東大・情報理工研究100連発 ～電子情報学専攻編～ 講演(3) 梅舘拓也・研究10連発(招待講演）
梅舘拓也
第16回情報科学技術フォーラム, Sep. 2017, 電子情報通信学会情報・システムソサイエティ, Invited

柔らかさを活かしたソフトロボットの設計、製造、制御方策（招待講演）
梅舘拓也; 川原圭博
第35回 日本ロボット学会学術講演会 RSJ2017, Sep. 2017, 日本ロボット学会, Invited

印刷技術で創るソフトロボット(招待講演）
梅舘拓也; 川原圭博
H29年度第1回PE研究会/第223回JOEM共催研究会「IoTセンシング・デバイス」, Jul. 2017, PE研究会/第223回JOEM共催研究会, Invited

ソフトロボットと一括造形する大変形センサの開発 (3D deformation sensor molded with soft-bodied robot simultaneously)
柴田直人; 梅舘拓也; 川原圭博; 浅見徹
第22回ロボティクスシンポジア, Mar. 2017, 日本ロボット学会

イモムシ型ソフトロボットの柔らかさとロコモーションの関係
梅舘 拓也; Trimmer, Barry A.; 川原 圭博
第29回自律分散システム・シンポジウム, Jan. 2017, SICE

Autonomous Decentralized Control for Soft-bodied Caterpillar-like Modular Robot Exploiting Large and Continuum Deformation
Umedachi, Takuya; Trimmer, Barry A.
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Nov. 2016, IEEE/RSJ,

Sensing Dynamic Properties and Interactions with the Environment: Proprioceptive Information for Soft-bodied Machines
Umedachi, Takuya; Trimmer, Barry A
7th Int. Symposium of Adaptive Motion of Animals and Machines (AMAM2015), Jun. 2015

Decentralized Control of 1D Crawling Locomotion by Exploiting “TEGOTAE” from Environment
Kano, Takeshi; Chiba, Hironori; Umedachi, Takuya; Ishiguro, Akio
7th Int. Symposium of Adaptive Motion of Animals and Machines (AMAM2015), Jun. 2015

環境からの手応えを活用した一次元這行運動の自律分散制御
千葉 大徳; 加納 剛史; 梅舘 拓也; 石黒 章夫
第293回計測自動制御学会東北支部研究集会, Mar. 2015, 計測自動制御学会

皮膚感覚フィードバックを活用した一次元這行運動の自律分散制御則
千葉 大徳; 加納 剛史; 梅舘 拓也; 石黒 章夫
ロボティクス・メカトロニクス講演会講演概要集 2015_2A2-S03_1-_2A2-S03_4, 2015, 一般社団法人 日本機械学会,

Design of a 3D-Printed Soft Robot with Posture and Steering Control
Takuya Umedachi; Barry A. Trimmer
2014 IEEE International Conference on Robotics and Automation (ICRA 2014), May 2014, Not invited,

Autonomous Decentralized Control for Soft Bodied Robots Inspired by True Slime Mold
Takuya Umedachi
The 1st International Symposium on Brainware LSI, Mar. 2014, Invited

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
梅舘拓也; Barry A. Trimmer
第26回自律分散システム・シンポジウム, Jan. 2014, Not invited

真正粘菌変形体に着想を得た環境に応じて変形可能な自律分散型アメーバ様ロボット
掘切 舜哉; 梅舘 拓也; 石黒 章夫
ロボティクス・メカトロニクス講演会講演概要集 2014_1A1-V01_1-_1A1-V01_3, 2014, 一般社団法人 日本機械学会,

Highly Deformable 3-D Printed Soft Robot Generating Inching and Crawling Locomotions with Variable Friction Legs
Umedachi, Takuya; Vishesh, Vikas; Trimmer, Barry A.
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Nov. 2013, IEEE/RSJ, Not invited,

Locomotion Diversity in an Underwater Soft-Robot Inspired by the Polyclad Flatworm
Toshiya Kazama; Koki Kuroiwa; Takuya Umedachi; Yuichi Komatsu; Ryo Kobayashi
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Nov. 2013, Not invited,

(no english title)
Takuya Umedachi
THE 31st ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN, Sep. 2013, Not invited

A swimming machine driven by the deformation of a sheet-like body inspired by polyclad flatworms
Toshiya Kazama; Koki Kuroiwa; Takuya Umedachi; Yuichi Komatsu; Ryo Kobayashi
The International Conference on Biomimetic and Biohybrid Systems (Living Machines 2013), Jul. 2013, Not invited

Caterpillar-like soft-bodied robot exploiting large-deformation continuum behavior
Takuya Umedachi; Vikas Vishesh; Barry Trimmer
2013 International Workshop on soft robotics, Jul. 2013, Not invited

True-slime-mold-inspired hydrostatic-skeletal amoeboid aobot driven by fully decentralized control
Takuya Umedachi; Ryo Idei; Kentaro Ito; Akio Ishiguro
6th International Symposium on Adaptive Motion of Animals and Machines (AMAM), Mar. 2013, Not invited

真正粘菌に着想を得た流体質量保存結合振動子系における自発的パターン間遷移の解析
伊藤賢太郎; 出井 遼; 梅舘拓也; 石黒章夫
第25回自律分散システム・シンポジウム資料, Jan. 2013, Not invited

ヒラムシに着想を得た流体センシングと運動との相互フィードバック機構を持つ自律遊泳型ソフトロボットの構築
風間俊哉; 黒岩光輝; 梅舘拓也; 小松雄一; 小林 亮
第25回自律分散システム・シンポジウム資料, Jan. 2013, Not invited

Highly Deformable Amoeboid Robot That Negotiates Environments by Using Pseudopods
Ryo Idei; Takuya Umedachi; Kentaro Ito; Ryo Kobayashi; Akio Ishiguro
第25回自律分散システム・シンポジウム資料, Jan. 2013, Not invited

Realization of Hydrostatic Skeleton Robot That Exhibits Versatile Behaviors Inspired by Plasmodium of True Slime Mold
Ryo Idei; Takuya Umedachi; Kentaro Ito; Akio Ishiguro
SICE System Integration Division, Dec. 2012, Not invited

質的に異なる振る舞いを状況依存的に発現可能なアメーバ様ロボットの自律分散制御
Ryo Idei; Takuya Umedachi; Kentaro Ito; Akio Ishiguro
THE 30TH ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN, Sep. 2012, 日本ロボット学会, Not invited

Mathematical Modeling of Adaptive Motor Function Inspired by True Slime Mold
Takuya Umedachi
Japan Society for Mathematical Biology Annual Meeting 2012, Sep. 2012, Not invited

True-Slime-Mold-inspired Robot That Exhibits Versatile Spatio-temporal Oscillatory Patterns
Takuya Umedachi; Ryo Idei; Kentaro Ito; Akio Ishiguro
第18回 創発システムシンポジウム「創発 夏の学校」, Sep. 2012, Not invited

A True-Slime-Mold-Inspired Fluid-Filled Robot Exhibiting Versatile Behavior
Takuya Umedachi; Ryo Ide; Akio Ishiguro
The International Conference on Boimimetic and Biohybrid Systems (Living Machines 2012), Jul. 2012, Not invited

A Large Degree-of-Freedom Modular Robot Exhibiting Versatile Behavior Inspired by Plasmodium of True Slime Mold
Ryo Idei; Takuya Umedachi; Kentaro Ito; Akio Ishiguro
ROBOMEC2012, May 2012, Not invited

Realization of a True Slime Mold-inspired Robot That Exhibits Versatile Spatio-temporal Oscillatory Patterns
Ryo Idei; Takuya Umedachi; Akio Ishiguro
第24回自律分散システム・シンポジウム資料, Jan. 2012, SICE, Not invited

振動子に駆動されるシリンダー結合系に現れるパターン遷移
伊藤 賢太郎; 出井 遼; 梅舘 拓也; 石黒 章夫
日本物理学会講演概要集 67, 2012, 一般社団法人 日本物理学会,

Autonomous Decentralized Control of Soft-bodied Robots Inspired by True Slime Mold
Takuya Umedachi; Ryo Idei; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
九州大学マス・フォア・インダストリ研究所 ウィンタースクール 数理モデルの産業・諸科学への活用 -数理モデルの夢-, Dec. 2011, Not invited

A Fluid-filled Deformable Robot That Exhibits Spontaneous Switching among Versatile Spatio-temporal Oscillatory Patterns Inspired by True Slime Mold
Takuya Umedachi; Ryo Idei; Akio Ishiguro
International Sympoium on Adaptive Motion in Animals and Machines (AMAM 2011), Oct. 2011, Not invited

A Mathematical Model for Spacio-temporal Oscillatory Patterns of True Slime Mold
Ryo Idei; Takuya Umedachi; Kentaro Ito; Akio Ishiguro
第21回 日本数理生物学会 年会, Sep. 2011, Not invited

A Fluid-filled Soft Robot That Exhibits Spontaneous Switching among Versatile Spatio-temporal Oscillatory Patterns Inspired by True Slime Mold
Takuya Umedachi; Ryo Idei; Akio Ishiguro
2nd International Conference on Morphological Computation (ICMC2011), Sep. 2011, Not invited

Fully Decentralized Control Inspired by Plasmodium of True Slime Mold
Takuya Umedachi; Ryo Idei; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
第2回領域シンポジウム「越境する数学」−CREST研究報告会−, Sep. 2011, Not invited

A Fluidic-interacted Modular Robot That Exhibits Versatile Spatio-temporal Oscillatory Patterns Inspired by Slime Mold
Takuya Umedachi; Ryo Idei; Akio Ishiguro
第17回創発システム・シンポジウム「創発夏の学校2011」, Sep. 2011, Not invited

Simulation of a Soft-bodied Fluid-driven Amoeboid Robot That Exploits Thixotropic Flow
Umedachi, Takuya; Akiyama, Masakazu; Tero, Atsushi; Ishiguro, Akio
2011 IEEE International Conference on Robotics and Automation (ICRA 2011), 12 May 2011, IEEE, Not invited,

A Slime Mold-inspired Fluid-filled Robot That Exhibits Versatile Spatio-temporal Oscillatory Patterns
Ryo Idei; Takuya Umedachi; Akio Ishiguro
ROBOMEC2011, May 2011, Not invited

Simulation of a Soft-bodied Fluid-driven Amoeboid Robot That Exploits Thixotropic Flow
Umedachi, Takuya; Akiyama, Masakazu; Tero, Atsushi; Ishiguro, Akio
2011 IEEE International Conference on Robotics and Automation (ICRA 2011), May 2011, IEEE, Not invited,

Locomotion Control of an Amoeboid Robot That Exploits Thixotropic Flow
Takuya Umedachi; Masakazu Akiyama; Atsushi Tero; Akio Ishiguro
第53回 自動制御連合講演会, Nov. 2010, Not invited

A Soft-bodied Fluid-driven Amoeboid Robot Inspired by Plasmodium of True Slime Mold
Takuya Umedachi; Koichi Takeda; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Oct. 2010, Not invited,

Modeling of Amoeboid Locomotion That Exploits Thixotropic Flow
Takuya Umedachi; Masakazu Akiyama; Atsushi Tero; Akio Ishiguro
第19回 日本数理生物学会, Sep. 2010, Not invited

Orchestrating Large Degrees of Freedom –A Case Study with a Soft-bodied Amoeboid Robot–
Takuya Umedachi; Koichi Takeda; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
Unconventional Computation, Jun. 2010, Not invited

A Fluid-driven Amoeboid Robot That Exploits Law of Conservation of Protoplasmic Mass
Koichi Takeda; Takuya Umedachi; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
ROBOMEC2010, Jun. 2010, Not invited

Taming Large Degrees of Freedom -A Case Study with an Amoeboid Robot-
Takuya Umedachi; Koichi Takeda; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
International Conference on Robotics and Automation (ICRA 2010), May 2010, Not invited,

Development of an Amoeboid Soft-bodied Robot That Exploits Law of Conservation of Protoplasmic Mass
Takuya Umedachi; Koichi Takeda; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
第22回自律分散システム・シンポジウム資料, Jan. 2010, Not invited

1A1-E20 A Fluid-driven Amoeboid Robot That Exploits Law of Conservation of Protoplasmic Mass
TAKEDA Koichi; UMEDACHI Takuya; NAKAGAKI Toshiyuki; KOBAYASHI Ryo; ISHIGURO Akio
ロボティクス・メカトロニクス講演会講演概要集, 2010, Not invited,

Fully Decentralized Control of a Soft-bodied Robot Inspired by Plasmodium of True Slime Mold
Takuya Umedachi; Koichi Takeda; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
SSI2009, Nov. 2009, Not invited

Taming Many Degrees of Freedom -Fully Decentralized Control of a Soft-bodied Robot Inspired by True Slime Mold-
Koichi Takeda; Takuya Umedachi; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
IROS 2009 Mobiligence: Social Adaptive Functions in Animals and Multi-Agent Systems, Oct. 2009, Not invited

Understanding Autonomous Decentralized Control of Many-Degree-of-Freedom from Amoeboid Locomotion
Takuya Umedachi; Koichi Takeda; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
第15創発システム・シンポジウム, Aug. 2009, Not invited

Experimental Verification of a Soft-bodied Robot with Large D.O.F. Inspired by True Slime Mold
Koichi Takeda; Takuya Umedachi; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
ROBOMEC2009, May 2009, Not invited

2A2-F22 Experimental Verification of a Soft-bodied Robot with Large D. O. F. Inspired by True Slime Mold
TAKEDA Koichi; KITAMURA Taichi; UMEDACHI Takuya; NAKAGAKI Toshiyuki; KOBAYASHI Ryo; ISHIGURO Akio
ロボティクス・メカトロニクス講演会講演概要集, May 2009, Not invited,

真正粘菌をモチーフとした大自由度ソフトロボットの実機開発
武田光一; 梅舘拓也; 中垣俊之; 小林亮; 石黒章夫
第21回自律分散システム・シンポジウム資料, Jan. 2009, SICE

A Modular Robot Driven by Protoplasmic Streaming
Takuya Umedachi; Koichi Takeda; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
The 9th International Symposium on Distributed Autonomous Robotic Systems 2008 (DARS2008), Dec. 2008, Not invited

Development of a Soft and Supple Robot Inspired by True Slime Mold
Taichi Kitamura; Takuya Umedachi; Koichi Takeda; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
第9回 計測自動制御学会(SICE) システムインテグレーション部門講演会, Dec. 2008, SICE, Not invited

A Fully Decentralized Morphology Control of an Amoeboid Robot by Exploiting the Law of Conservation of Protoplasmic Mass
Akio Ishiguro; Takuya Umedachi; Taichi Kitamura; Toshiyuki Nakagaki; Ryo Kobayashi
IEEE/RSJ International Conference on Intelligent Robots and Systems Workshops/Tutorial, Sep. 2008, Not invited

Autonomous Decentralized Control of an Amoeboid Robot by Exploiting Global Interaction Stemming from Protoplasm
Taichi Kitamura; Takuya Umedachi; Koichi Takeda; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
RSJ2008, Sep. 2008, Not invited

Understanding Autonomous Decentralized Control from Amoeboid Locomotion
Takuya Umedachi; Taichi Kitamura; Koichi Takeda; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
第14回創発システム・シンポジウム, Aug. 2008, Not invited

Realization of An Amoeboid Locomotion That Exploits Real-time Tunable Springs and Law of Conservation of Protoplasmic Mass
Taichi Kitamura; Takuya Umedachi; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro
第243回SICE東北支部, Jul. 2008, Not invited

Development of an Amoeboid Robot that Exploits the Law of Conservation of Protoplasmic Mass
Taichi Kitamura; Takuya Umedachi; Akio Ishiguro
ROBOMEC2008, Jun. 2008, Not invited

2A1-G01 Development of an Amoeboid Robot that Exploits the Law of Conservation of Protoplasmic Mass
KITAMURA Taichi; UMEDACHI Takuya; ISHIGURO Akio
ロボティクス・メカトロニクス講演会講演概要集, Jun. 2008, Not invited,

A Fully Decentralized Control of an Amoeboid Robot by Exploiting the Law of Conservation of Protoplasmic Mass
Takuya Umedachi; Taichi Kitamura; Akio Ishiguro
IEEE/RSJ International Conference on Robotics and Automation (ICRA2008), May 2008, Not invited,

An Autonomous Decentralized Locomotion Control of an Amoeboid Robot That Exploits the Law of Conservation of Protoplasmic Mass
Takuya Umedachi; Taichi Kitamura; Akio Ishiguro
2008第3回移動知シンポ, 2008, Not invited

Adaptive Amoeboid Locomotion That Exploits Law of Conservation of Protoplasmic Mass
Takuya Umedachi; Akio Ishiguro
SICE Annual Conference 2007, Sep. 2007, Not invited,

Amoeboid Locomotion That Exploits Real-time Tunable Springs and Law of Conservation of Protoplasmic Mass
Takuya Umedachi; Akio Ishiguro
The 2nd International Symposium on Mobiligence, Jul. 2007, Not invited

2A1-G02 An Amoeboid Robot That Exploits Real-time Tunable Springs and Law of Conservation of Protoplasmic Mass
UMEDACHI Takuya; ISHIGURO Akio
ロボティクス・メカトロニクス講演会講演概要集, May 2007, Not invited,

2A1-B11 Well-balanced Coupling between Control and Mechanical Systems via Real-time Tunable Springs : A Case Study with a 2D Serpentine Robot
WATANABE Wataru; UMEDACHI Takuya; ISHIGURO Akio
ロボティクス・メカトロニクス講演会講演概要集, May 2007, Not invited,

Well-balanced Coupling between Control and Mechanical Systems by Exploiting Real-time Tunable Springs : A Case Study with a 2D Serpentine Robot
WATANABE Wataru; UMEDACHI Takuya; ISHIGURO Akio
自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, Jan. 2007, Not invited,

Development of Real-time Tunable Spring for Autonomous Moble Robots and next-generation Information Electronics
Takuya Umedachi; Akio Ishiguro
The Join International Conference of 4th International Symposium on System Construction of Global-network-oriented Information Electronics and Student-organizing International Mini-conference on Information Electronics System, Jan. 2007, Not invited

An Amoeboid Robot That Exploits Real-time Tunable Springs and Law of Conservation of Protoplasmic Mass
Taichi Kitamura; Takuya Umedachi; Akio Ishiguro
Robomec2007, 2007, Not invited

Development of a Fully Self-contained Real-time Tunable Spring
Takuya Umedachi; Akio Ishiguro
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2006, Not invited,

1P1-B23 Development of a Highly Implementable Real-time Tunable Spring : Application to an Antagonistically Driven Joint
UMEDACHI Takuya; TANAKA Naoto; YAMADA Yasutake; ISHIGURO Akio
ロボティクス・メカトロニクス講演会講演概要集, 2006, Not invited,

1P2-S-005 Development of a Real-time Tunable Spring : Toward Independent Control of Position and Stiffness of Joints(Flexible Mechanism,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
Umedachi Takuya; Kishi Hiroaki; Yamada Yasutake; Ishiguro Akio
ロボティクス・メカトロニクス講演会講演概要集, Jun. 2005, Not invited,

ER流体を用いた可変弾性要素の開発(フレキシブルメカニズム)
梅舘 拓也; 青木 猛; 増渕 雄一; 土井 正男; 石黒 章夫
ロボティクス・メカトロニクス講演会講演概要集 2004, 2004, 一般社団法人 日本機械学会,

日本機械学会

日本ロボット学会