Journal articles

  1. Steerable Flipping Elastic Robot That Leverages Elastic Energy Through Both Bending and Twisting Deformation, Kisuke Nonoyama, Noriyasu Iwamoto, Takuya Umedachi, IEEE Robotics Autom. Lett., 9(11): 10583-10588, DOI: 10.1109/LRA.2024.3474470, Nov., 2024 (Open Access).
  2. 力学刺激応答性を持つソフトロボット, Takuya Umedachi, 日本ロボット学会誌, 42(8):713-717, DOI: 10.7210/jrsj.42.713, Aug., 2024.
  3. Tailoring stiffness distribution of tendon-driven continuum finger from manipulation force vector, Shunya Yamamoto, Daiki Yoshikawa, Noriyasu Iwamoto, Takuya Umedachi, Advanced Robotics, 38(21): 1528–1538, doi: 10.1080/01691864.2024.2411691, Oct., 2024 (Open Access).
  4. 柔らかさと複雑さを活かしたソフトロボットの創り方, Takuya Umedachi, 日本ロボット学会誌, 42(6):509-512, DOI: 10.7210/jrsj.42.509, Jun., 2024.
  5. 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, DOI: 10.1109/LRA.2023.3338411, Dec. 2023.
  6. 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):3109–3123, doi: 10.18494/SAM4365, Sep. 2023.
  7. 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(18) doi: 10.1186/s40648-023-00257-92023, Jul., 2023 (Open Access).
  8. Upside-Down Brachiation Robot Using Elastic Energy Stored Through Soft Body Deformation, Kisuke Nonoyama, Masahiro Shimizu, Takuya Umedachi, IEEE Robotics and Automation Letters, Vol. 7, Issue: 4, pp. 11291-11297, DOI: 10.1109/LRA.2022.3194947, Jul., 2022.
  9. Planar Conformal Deformation of Robotic S-Isothermic Surface, Noriyasu Iwamoto, Daiki Kusakabe, Takuya Umedachi, IEEE Robotics and Automation Letters, 7(4):11531–11536, DOI: 10.1109/LRA.2022.3203238, Oct., 2022.
  10. 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, DOI: 10.1109/LRA.2021.3136305, Apr., 2022.
  11. 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):4173-4184, DOI: 10.18494/SAM.2021.3116, Dec., 2021 (Open Access).
  12. Caterpillar-inspired soft robot that locomotes upside-down by utilizing environmental skeleton, Masahiro Morishima, Takuya Umedachi, Yoshihiro Kawahara , Engineering Research Express, 2, 035022, DOI 10.1088/2631-8695/abb28d, Sep., 2020 (Open Access).
  13. 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 Robotics and Automation Letters, 5(3):4126-4132, DOI: 10.1109/LRA.2020.2988176, Jul., 2020.
  14. 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, J. of Softrobotics, 7(6):700-710, DOI: 10.1089/soro.2019.0090, Mar., 2020 (Open Access).
  15. Balloon-like coupling between head and posterior in a caterpillar, Fuminori Okuya , Takuya Umedachi and Yoshihiro Kawahara, Adaptive Behavior, 29(4):383-393, DOI: 10.1177/1059712320908360, Mar., 2020.
  16. Exploring Behaviors of Caterpillar-like Soft Robots with a CPG-based Controller and Reinforcement Learning, Matthew Ishige, Takuya Umedachi, Tadahiro Taniguchi, Yoshihiro Kawahara, J. of Soft Robotics, 6(5):579–594, DOI: 10.1089/soro.2018.0126, Oct., 2019 (Open Access).
  17. Caterpillar-inspired Crawling Robot using Both Compression and Bending Deformations, Takuya Umedachi, Masahiro Shimizu, Yoshihiro Kawahara, IEEE Robotics and Automation Letters, 4(3):670-676, DOI: 10.1109/LRA.2019.2893438, Apr., 2019.
  18. Self-organizing cell tactile perception which depends on mechanical stimulus history, Masahiro Shimizu, Kosuke Minzan, Hiroki Kawashima, Kota Miyasaka, Takuya Umedachi, Toshihiko Ogura, Junichi Nakai, Masamichi Ohkura, Koh Hosoda, Advanced Robotics, 33(5):232-242, Special Issue on Cyborg and Bionic Systems, DOI: 10.1080/01691864.2019.1590232, 2019.
  19. 生物を規範として使い物になるソフトロボットを作る, How to Make Useful Soft-bodied Robots Inspired by Animals, Takuya Umedachi, 日本ロボット学会誌, 37 (1):12-15, DOI: 10.7210/jrsj.37.12, Jan., 2019.

International Conference Presentation

  1. 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), oral session, pp. 1-7, April 2023 (link).
  2. One-Piece 3D-Printed Legs Using Compliant Mechanisms That Produce Effective Propulsive Force for Hexapod Robot Locomotion, Atsushi Kaneko, Dai Owaki, Masahiro Shimizu, Takuya Umedachi, 2023 IEEE International Conference on Soft Robotics (RoboSoft), April 2023 (link).
  3. Upside-down Brachiation Robot Using Elastic Energy Stored through Soft Body Deformation, Kisuke Nonoyama, Masahiro Shimizu, Takuya Umedachi, The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), Oct. 2022 (link).
  4. In-hand Manipulation Exploiting Bending and Compression Deformations of Caterpillar-Locomotion-Inspired Fingers, Tomoya Onodera, Noriyasu Iwamoto, Takuya Umedachi, The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), Oct. 2022 (link).
  5. Conversion of Elastic Energy Stored in the Legs of a Hexapod Robot into Propulsive Force, Atusushi Kaneko, Masahiro Shimizu, Takuya Umedachi, The 11th International Conference on Biomimetics and Biohybrid Systems (Living Machines 2022), July 20, 2022 (pdf, talk).
  6. Measuring Motion of Deformed Surfaces for Soft-bodied Robots/Animals with Multi-colored Markers, K. Hanaoka, M. Shimizu, T. Umedachi, 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft2022), April 2022 (pdf, talk).
  7. Development of 3D Printed Structure That Visualizes Bending and Compression Deformations for Soft-Bodied Robots, K. Hanaoka, M. Shimizu, T. Umedachi, Wed9Pos.6, 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft), April 14, 2021 (pdf, talk).
  8. A Multigait Stringy Robot with Bi-Stable Soft-Bodied Structures in Multiple Viscous Environments, T. D. Ta, T. Umedachi, and Y. Kawahara, Proc. of IEEE IROS 2020, Virtual (previously Las Vegas, Nevada, US), Oct. 2020 (pdf)
  9. Blind Bin Picking of Small Screws Through In-finger Manipulation With Compliant Robotic Fingers, M. Ishige, T. Umedachi, Y. Ijiri, T. Taniguchi, Y. Kawahara, 2020 IEEE/RSJ International Conference on Intelligent Robots and System (IROS), To Appear, Las Vegas, USA, Oct. 2020.
  10. Self-healing Cell Tactile Sensor Fabricated Using Ultraflexible Printed Electrodes, Masahiro Shimizu, Toshinori Fujie, Takuya Umedachi, Shunsuke Shigaki, Hiroki Kawashima, Masato Saito, Hirono Ohashi, Koh Hosoda, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 8932-8938, Las Vegas, USA, Oct. 2020 (pdf)
  11. 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, Yale University, April 6-9, 2020 (pdf)
  12. 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, Yale University, pp. 188-193, April 6-9, 2020 (pdf)
  13. 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, Yale University, April 6-9, 2020 (pdf)
  14. 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), pp. 844-847, 2020 (pdf)
  15. Cell Culturing on Electrical Circuit with Printed Electronics Technics, Masahiro Shimizu, Hiroki Kawashima, Takuya Umedachi, Shunsuke Shigaki, Toshihiko Ogura, Koh Hosoda, 2019 International Symposium on Micro-NanoMechatronics and Human Science (MHS), pp. 1-3, Dec. 1, 2019.
  16. Soft-bodied caterpillar-like testbed developed with digital fabrication to close Vico’s loop (Invited talk), Takuya Umedachi, 2019 Living Machines Conference, Workshop: CLOSING VICO’S LOOP: ADDRESSING CHALLENGES IN SCIENCE AND SOCIETY WITH LIVING MACHINES, July, 2019
  17. 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), Montreal, Canada, May 20-24, 2019 (pdf).
  18. Caterpillar-inspired Crawling Robot using Both Compression and Bending Deformations, Takuya Umedachi, Masahiro Shimizu, Yoshihiro Kawahara, 2019 IEEE International Conference on Robotics and Automation (ICRA 2019), Montreal, Canada, May 20-24, 2019 (pdf, the same contents accepted in RA letter, poster).
  19. Actuation Frequency-Dependent Automatic Behavioral Switching on Caterpillar-Inspired Crawling Robot, Takuya Umedachi, Masahiro Shimizu, Yoshihiro Kawahara, 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft 2019), Paper MoPS.28, Soul, Korea, April 15, 2019 (pdf).

国内学会発表

  1. S-isothermic曲面形状ロボットの各アクチュエータの圧力と半径の関係，町田渉，坂本康介，梅舘拓也，岩本憲泰，ロボティクス・メカトロニクス講演会，2A1-E09，2023.
  2. 円環状ソフトロボットとシャボン液で構成する曲面形状ロボットの制御，宮嶋優，梅舘拓也，岩本憲泰，ロボティクス・メカトロニクス講演会，2A2-D22，2023.
  3. カーボンブラックを用いた導電性伸長センサによる円錐台型アクチュエータの半径推定，早川翔太，秋山佳丈，梅舘拓也，岩本憲泰，ロボティクス・メカトロニクス講演会，2P1-D17，2023.
  4. 空気圧フィンガーをコの字状に配置した境界制御型曲面形状ロボット，山田友樹，梅舘拓也，岩本憲泰，ロボティクス・メカトロニクス講演会，2A1-S07，2023.
  5. 複数の変形モードが可能なソフトモジュラーロボットの自律分散制御，大橋直和，岩本憲泰，梅舘拓也，第35回自律分散システム・シンポジウム，2C3-1，大阪，2023．
  6. 円錐台型アクチュエータを連結した曲面形状ロボットのアクチュエータ圧力と半径の変換則導出，坂本康介，梅舘拓也，岩本憲泰, 第23回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，1P3-E07, 千葉，2022.
  7. 円環状のソフトロボットとシャボン液で構成する曲面形状ロボットの開発，宮嶋優，梅舘拓也，岩本憲泰, 第23回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，1P3-E06, 千葉，2022.
  8. 曲率分布を自由に設計可能なワイヤ駆動型連続体ロボット，吉川大喜，清水正宏，梅舘拓也，ロボティクス・メカトロニクス講演会，2A1-S07，2022.
  9. 柔軟材料の曲げ変形に対する断面形状最適化を用いた折りたたみ空気圧アクチュエータの提案，萱間啓輔，岩本憲泰，梅舘拓也，ロボティクス・メカトロニクス講演会，2A1-S08，2022. 
  10. 両面の半径が可変な円錐台型アクチュエータを連結した曲面形状ロボットの具現化，日下部 大輝， 梅舘 拓也，岩本 憲泰，ロボティクス・メカトロニクス講演会，2A1-R02，2022. 
  11. 再構成可能な腱駆動モジュラーソフトロボット，大橋 直和，岩本 憲泰，梅舘 拓也，第26回 情報処理学会シンポジウム INTERACTION 2022 インタラクティブ発表 2 ，2D-04，Feb. 28, 2022. (pdf)
  12. 三角形メッシュ状に導電性伸張センサを配置した面状センサの曲率推定検討，渡辺彗光, 梅舘拓也, 秋山佳丈, 岩本憲泰, 第22回　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, 3C5-02, オンライン（鹿児島）, Dec. 17, 2021.
  13. 両面半径が可変な円錐台型アクチュエータの具現化，日下部大輝, 梅舘拓也, 岩本憲泰, 第22回　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,3C5-01, オンライン（鹿児島）Dec. 17, 2021.
  14. 銀ナノインクを使ったセンサ・アクチュエータ一括印刷で製作する移動ロボット，日髙瑠加，タ・トゥン・デゥック，梅舘拓也，ロボティクス・メカトロニクス講演会，1P3-F10，June 6-8, 2021.
  15. 板状圧縮材を用いたテンセグリティにおける双安定構造の実現，中澤幸大，梅舘拓也，ロボティクス・メカトロニクス講演会，1P3-G11，June 6-8, 2021.
  16. 蠕動運動する指による把持物体のハンドリングを目指したロボットハンド，小野寺智哉，梅舘拓也，ロボティクス・メカトロニクス講演会，2P1-F02，June 6-8, 2021.
  17. 伸縮ひずみセンサを用いたソフトロボットに着せるモーションセンサ，大橋直和，梅舘拓也，ロボティクス・メカトロニクス講演会，2P2-G09，June 6-8, 2021.
  18. 脚に生じる水平方向の弾性力を推進に活かした多脚ロボット，金子温志，伊與部聡，梅舘拓也，ロボティクス・メカトロニクス講演会，2P3-G11，June 6-8, 2021.
  19. 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)，2A3-03 16:45～，2020.10.10
  20. 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)，2A2-05 15:00～，2020.10.10