A Development of a Fully Self-contained Real-time Tunable Spring. - Takuya Umedachi; Akio Ishiguro (IROS, 2006)

Development of a Real-Time Tunable Spring - Toward Independent Control of Position and Stiffness of Joints -. - Takuya Umedachi; Yasutake Yamada; Akio Ishiguro (J. Robotics Mechatronics, 2007)

A Modular Robot Driven by Protoplasmic Streaming. - Takuya Umedachi; Taichi Kitamura; Koichi Takeda 004; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro (DARS, 2008)

A fully decentralized control of an amoeboid robot by exploiting the law of conservation of protoplasmic mass. - Takuya Umedachi; Taichi Kitamura; Akio Ishiguro (ICRA, 2008)

An Amoeboid Locomotion That Exploits Real-Time Tunable Springs and Law of Conservation of Protoplasmic Mass. - Takuya Umedachi; Taichi Kitamura; Akio Ishiguro (J. Robotics Mechatronics, 2008)

Taming large degrees of freedom. - Takuya Umedachi; Koichi Takeda 004; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro (ICRA, 2010)

A soft-bodied fluid-driven amoeboid robot inspired by plasmodium of true slime mold. - Takuya Umedachi; Koichi Takeda 004; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro (IROS, 2010)

Fully decentralized control of a soft-bodied robot inspired by true slime mold. - Takuya Umedachi; Koichi Takeda 004; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro (Biol. Cybern., 2010)

Simulation of a soft-bodied fluid-driven amoeboid robot that exploits thixotropic flow. - Takuya Umedachi; Masakazu Akiyama; Atsushi Tero; Akio Ishiguro (ICRA, 2011)

A Soft Deformable Amoeboid Robot Inspired by Plasmodium of True Slime Mold. - Takuya Umedachi; Koichi Takeda 004; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro (Int. J. Unconv. Comput., 2011)

A True-Slime-Mold-Inspired Fluid-Filled Robot Exhibiting Versatile Behavior. - Takuya Umedachi; Ryo Idei; Akio Ishiguro (Living Machines, 2012)

Fluid-Filled Soft-Bodied Amoeboid Robot Inspired by Plasmodium of True Slime Mold. - Takuya Umedachi; Ryo Idei; Toshiyuki Nakagaki; Ryo Kobayashi; Akio Ishiguro (Adv. Robotics, 2012)

Locomotion diversity in an underwater soft-robot inspired by the polyclad flatworm. - Toshiya Kazama; Koki Kuroiwa; Takuya Umedachi; Yuichi Komatsu; Ryo Kobayashi (IROS, 2013)

Highly deformable 3-D printed soft robot generating inching and crawling locomotions with variable friction legs. - Takuya Umedachi; Vishesh Vikas; Barry Trimmer (IROS, 2013)

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 (Living Machines, 2013)

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 (Artif. Life, 2013)

Design of a 3D-printed soft robot with posture and steering control. - Takuya Umedachi; Barry Trimmer (ICRA, 2014)

Enhancing adaptability of amoeboid robot by synergetically coupling two decentralized controllers inspired by true slime mold. - Takuya Umedachi; Shunya Horikiri; Ryo Kobayashi; Akio Ishiguro (Adapt. Behav., 2015)

Soft-bodied amoeba-inspired robot that switches between qualitatively different behaviors with decentralized stiffness control. - Takuya Umedachi; Kentaro Ito; Akio Ishiguro (Adapt. Behav., 2015)

Autonomous decentralized control for soft-bodied caterpillar-like modular robot exploiting large and continuum deformation. - Takuya Umedachi; Barry A. Trimmer (IROS, 2016)

Origami Robots with Flexible Printed Circuit Sheets. - Dongchi Li; Kazuya Saito; Takuya Umedachi; Tung D. Ta; Yoshihiro Kawahara (UbiComp/ISWC Adjunct, 2018)

Design of Frictional 2D-Anisotropy Surface for Wriggle Locomotion of Printable Soft-Bodied Robots. - Tung D. Ta; Takuya Umedachi; Yoshihiro Kawahara (ICRA, 2018)

Learning Oscillator-Based Gait Controller for String-Form Soft Robots Using Parameter-Exploring Policy Gradients. - Matthew Ishige; Takuya Umedachi; Tadahiro Taniguchi; Yoshihiro Kawahara (IROS, 2018)

Caterpillar-inspired crawling robot on a stick using active-release and passive-grip elastic legs. - Takuya Umedachi; Yoshihiro Kawahara (RoboSoft, 2018)

Inkjet Printable Actuators and Sensors for Soft-bodied Crawling Robots. - Tung D. Ta; Takuya Umedachi; Yoshihiro Kawahara (ICRA, 2019)

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 (Living Machines, 2019)

Cell Culturing on Electrical Circuit with Printed Electronics Technics. - Masahiro Shimizu; Hiroki Kawashima; Takuya Umedachi; Shunsuke Shigaki; Toshihiko Ogura; Koh Hosoda (MHS, 2019)

Actuation Frequency-dependent Automatic Behavioral Switching on Caterpillar-inspired Crawling Robot. - Takuya Umedachi; Masahiro Shimizu; Yoshihiro Kawahara (RoboSoft, 2019)

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 (Adv. Robotics, 2019)

Caterpillar-Inspired Crawling Robot Using Both Compression and Bending Deformations. - Takuya Umedachi; Masahiro Shimizu; Yoshihiro Kawahara (IEEE Robotics Autom. Lett., 2019)

Blind Bin Picking of Small Screws Through In-finger Manipulation With Compliant Robotic Fingers. - Matthew Ishige; Takuya Umedachi; Yoshihisa Ijiri; Tadahiro Taniguchi; Yoshihiro Kawahara (IROS, 2020)

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 (IROS, 2020)

A Multigait Stringy Robot with Bi-stable Soft-bodied Structures in Multiple Viscous Environments. - Tung D. Ta; Takuya Umedachi; Yoshihiro Kawahara (IROS, 2020)

In-Hand Small-Object Counting from Tactile Sensor Arrays Installed on Soft Fingertips. - Matthew Ishige; Takuya Umedachi; Yoshihisa Ijiri; Yoshihiro Kawahara (RoboSoft, 2020)

Demonstration of Teleoperated Bumblebee-Quadcopter System for Collision Avoidance. - Shunsuke Shigaki; Masahiro Shimizu; Hiroki Kobayashi; Risa Ishiguro; Takuya Umedachi; Koh Hosoda (RoboSoft, 2020)

Electroantennography Measurement by Printed Electronics Electrode. - Naoki Yamada; Shunsuke Shigaki; Masahiro Shimizu; Hirono Ohashi; Takuya Umedachi; Toshihiko Ogura; Koh Hosoda (SII, 2020)

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 Autom. Lett., 2020)

Development of 3D Printed Structure that Visualizes Bending and Compression Deformations for Soft-bodied Robots. - Kohei Hanaoka; Masahiro Shimizu; Takuya Umedachi (RoboSoft, 2021)

Balloon-like coupling between head and posterior in a caterpillar. - Fuminori Okuya; Takuya Umedachi; Yoshihiro Kawahara (Adapt. Behav., 2021)

Printable Origami Bistable Structures for Foldable Jumpers. - Tung D. Ta; Zekun Chang; Koya Narumi; Takuya Umedachi; Yoshihiro Kawahara (ICRA, 2022)

In-hand Manipulation Exploiting Bending and Compression Deformations of Caterpillar-Locomotion-Inspired Fingers. - Tomoya Onodera; Noriyasu Iwamoto; Takuya Umedachi (IROS, 2022)

Conversion of Elastic Energy Stored in the Legs of a Hexapod Robot into Propulsive Force. - Atsushi Kaneko; Masahiro Shimizu; Takuya Umedachi (Living Machines, 2022)

Measuring Motion of Deformed Surfaces for Soft-bodied Robots/Animals with Multi-colored Markers. - Kohei Hanaoka; Masahiro Shimizu; Shunsuke Shigaki; Takuya Umedachi (RoboSoft, 2022)

A Printable Soft-bodied Wriggle Robot with Frictional 2D-anisotropy Surface. - Tung D. Ta; Takuya Umedachi; Michiyo Suzuki; Yoshihiro Kawahara (J. Inf. Process., 2022)

Toward Self-Modifying Bio-Soft Robots. - Takuya Umedachi; Masahiro Shimizu (J. Robotics Mechatronics, 2022)

Planar Conformal Deformation of Robotic S-Isothermic Surface. - Noriyasu Iwamoto; Daiki Kusakabe; Takuya Umedachi (IEEE Robotics Autom. Lett., 2022)

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 Autom. Lett., 2022)

Upside-Down Brachiation Robot Using Elastic Energy Stored Through Soft Body Deformation. - Kisuke Nonoyama; Masahiro Shimizu; Takuya Umedachi (IEEE Robotics Autom. Lett., 2022)

Bistable Tensegrity Robot with Jumping Repeatability Based on Rigid Plate-Shaped Compressors. - Kento Shimura; Noriyasu Iwamoto; Takuya Umedachi (IROS, 2023)

A Crawling Robot That Utilizes Propagation of Deformation Waves of a Bistable Lattice Actuated by a Single Motor. - Yuto Horioka; Masahiro Shimizu; Takuya Umedachi (RoboSoft, 2023)

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 (RoboSoft, 2023)

Initial Study Toward Motion Generation by Autonomous Decentralized Control for Peristaltic Mixing and Conveying Device Imitating Intestines. - Ryosuke Adachi; Iori Terayama; Takaaki Tanno; Tomoki Hanamura; Takuya Umedachi; Taro Nakamura 001 (ICIT, 2024)

Complex Deformation Design of Continuum Robot Driven by Few Actuators with Optimized Tendon Path. - Daiki Yoshikawa; Noriyasu Iwamoto; Takuya Umedachi (J. Robotics Mechatronics, 2024)

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., 2024)

Tailoring stiffness distribution of tendon-driven continuum finger from manipulation force vector. - Shunya Yamamoto; Daiki Yoshikawa; Noriyasu Iwamoto; Takuya Umedachi (Adv. Robotics, 2024)

Steerable Flipping Elastic Robot That Leverages Elastic Energy Through Both Bending and Twisting Deformation. - Kisuke Nonoyama; Noriyasu Iwamoto; Takuya Umedachi (IEEE Robotics Autom. Lett., 2024)

Motion Classification With Embroidery Bend Sensors Using Multiple Zigzag-Stitch for Loose-Fitting Garments. - Kaisei Minami; Yasuhiro Akiyama; Takuya Umedachi (IEEE Access, 2025)

Variable-Corner Robotic Surfaces with Minimal Area and Their Kinematics. - Masaru Miyajima; Takuya Umedachi; Noriyasu Iwamoto (J. Robotics Mechatronics, 2025)