Google Scholar  | ResearchGate (RG) |  orcid.org/0000-0002-2244-9963 | ResearchMap, 

963 citations (according to Google scholar, as of July 19, 2023)

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Papers:

1. 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 and Automation Letters, DOI: 10.1109/LRA.2023.3338411, 2023 (accepted, pdf).

2. 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, doi: 10.1186/s40648-023-00257-92023, July 2023 (preprint pdf, published pdf).

3. Origami-based Invaginatable Soft Vacuum Actuators with Optimized Creases that Avoid Bending Stress Concentration, Keisuke Kayama, Noriyasu Iwamoto, and Takuya Umedachi, Paper No.: SS-4365, Sensors and Materials, doi: 10.18494/SAM4365, March 2023 (pdf).

4. 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, 29 July 2022. (link)

5. Planar Conformal Deformation of Robotic S-Isothermic Surface, Noriyasu Iwamoto; Daiki Kusakabe; Takuya Umedachi, IEEE Robotics and Automation Letters, Vol. 7, Issue: 4, pp. 11531-11536, DOI: 10.1109/LRA.2022.3203238, 31 August 2022. (link) 

6. 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, Volume: 7, Issue: 2, pp. 992 - 999, DOI: 10.1109/LRA.2021.3136305, April 2022. (pdf, link)

7. A Printable Soft-bodied Wriggle Robot with Frictional 2D-Anisotropy Surface, T. D. Ta, T. Umedachi, M. Suzuki, and Y. Kawahara, Journal of Information Processing (JIP), vol.63, no.3, March 2022 (link, pdf).

8. ソフトアクチュエータとその応用，梅舘拓也，機械設計2022年3月号 雑誌・特集:アクチュエーション技術の研究・開発動向と製品トレンド，解説2，pp. 22-27, 2022 (link).

9. Caterpillar-inspired soft robot that locomotes upside-down by utilizing environmental skeleton, Masahiro Morishima, Takuya Umedachi, Yoshihiro Kawahara , Engineering Research Express , 2020  (pdf).

10. 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,  Vol. 5, Issue: 3, DOI: 10.1109/LRA.2020.2988176, 2020 (pdf)

11. 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, DOI: 10.1089/soro.2019.0090, 2020.3.30  (pdf).

12. Balloon-like coupling between head and posterior in a caterpillar, Fuminori Okuya , Takuya Umedachi and Yoshihiro Kawahara, Adaptive Behavior, Aug. 2021 (link)

13. Dynamic Model Identification for Insect Electroantennogram with Printed Electrode, Naoki Yamada, Hirono Ohashi, Takuya Umedachi, Masahiro Shimizu, Koh Hosoda, and Shunsuke Shigaki, Sensors and Materials, Vol. 33, No. 12, pp. 4173-4184,  DOI: 10.18494/SAM.2021.3116, 2021 (pdf)

14. Exploring Behaviors of Caterpillar-like Soft Robots with a CPG-based Controller and Reinforcement Learning, Matthew Ishige, Takuya Umedachi, Tadahiro Taniguchi, and Yoshihiro Kawahara, J. of Soft Robotics, DOI: 10.1089/soro.2018.0126, 2019  (pdf)

15. Caterpillar-inspired Crawling Robot using Both Compression and Bending Deformations, Takuya Umedachi, Masahiro Shimizu, Yoshihiro Kawahara, IEEE Robotics and Automation Letters, DOI: 10.1109/LRA.2019.2893438, 2019  (pdf)

16. 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, Vol. 33, Issue 5,  pp. 232-242, Special Issue on Cyborg and Bionic Systems, DOI: 10.1080/01691864.2019.1590232, 2019 (pdf)

17. 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 巻 1 号 p. 12-15, DOI: 10.7210/jrsj.37.12, 2019 (link)

18. Response to various periods of mechanical stimuli in Physarum plasmodium, Takuya Umedachi, Kentaro Ito, Ryo. Kobayashi, Akio Ishiguro, and Toshiyuki Nakagaki, Journal of Physics D: Applied Physics, Vol. 50 Issue: 25 Pages: 254002, DOI: 10.1088/1361-6463/aa6f4a, 2017 (pdf)

19. 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. Published 7 December 2016. DOI: 10.1098/rsos.160766 (pdf)

20. Softworms: the design and control of non-pneumatic, 3D-printed, deformable robots, T Umedachi, V Vikas and B A Trimmer, Bioinspir. Biomim. 11 (2016) 025001, 2016, doi:10.1088/1748-3190/11/2/025001 (pdf)

21. Modelling Oscillatory Behaviour of Slime Mould (Book captor), Takuya Umedachi and Akio Ishiguro, Book: Advances in Physarum Machines (Vol. 21 of the series Emergence, Complexity and Computation, Springer International Publishing), pp 479-488, 2016, DOI: 10.1007/978-3-319-26662-6_24 (pdf)

22. 真正粘菌変形体のアメーバ運動を規範としたソフトロボット（解説論文）, English title: Soft-bodied Amoeboid Robots Maneuvered by Fully Decentralized Control Inspired by Plasmodium of True Slime Mold” (Review Paper), 梅舘拓也 (Takuya Umedachi), 計測自動制御学会学会誌「計測と制御」(Journal of the Society of Instrument and Control Engineers), Vol.54, No.4 (accepted, Feb 13. 2015, written in Japanese)

23. Enhancing adaptability of amoeboid robot by synergetically coupling two decentralized controllers inspired by true slime mold, Takuya Umedachi, Shunya Horikiri, Ryo Kobayashi, and Akio Ishiguro, Adaptive Behavior, sagepub.co.uk, 1–12, DOI: 10.1177/1059712315573334, 2015 (pdf)

24. Soft-bodied amoeba-inspired robot that switches between qualitatively different behaviors with decentralized stiffness control, Takuya Umedachi, Kentaro Ito, and Akio Ishiguro, Adaptive Behavior, sagepub.co.uk, 1–11, DOI: 10.1177/1059712314564784, 2015 (pdf)

25. Morphological Computation with Hydrostatic Interaction between Mechanosensory Oscillators, Takuya Umedachi and Akio Ishiguro, In book: E-book on Opinions and Outlooks on Morphological Computation, Chapter: 11, Editors: Hauser Helmut, Rudolf M. Füchslin, Rolf Pfeifer, ISBN: 978-3-033-04515-6, pp.119-130, 2014 (pdf)

26. True-slime-mould-inspired hydrostatically-coupled oscillator system exhibiting versatile behaviours, Takuya Umedachi, Ryo Idei, Kentaro Ito, and Akio Ishiguro, Bioinspiration & Biomimetics, IOP Publishing, 8 035001 doi:10.1088/1748-3182/8/3/035001, 2013 (pdf)

27. A Fluid-filled Soft Robot that Exploits Spontaneous Switching among Versatile Spatio-temporal Oscillatory Patterns Inspired by True Slime Mold, Takuya Umedachi, Ryo Idei, Kentaro Ito, and Akio Ishiguro, Artificial Life, MIT press, 19:1, doi:10.1162/ARTL_a_00081, 2013 (link)

28. A True-Slime-Mold-Inspired Fluid-Filled Robot Exhibiting Versatile Behavior, Takuya Umedachi, Ryo Idei, and Akio Ishiguro, Biomimetic and Biohybrid Systems, Lecture Notes in Computer Science, Vol. 7375/2012, pp. 262-273, DOI:10.1007/978-3-642-31525-1_23, 2012 (link)

29. 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 Lecture Notes in Computer Science, Vol. 8064, 2013, pp 390-392, DOI: 10.1007/978-3-642-39802-5_44,  2013 (link)

30. Fluid-Filled Soft-Bodied Amoeboid Robot Inspired by Plasmodium of True Slime Mold, Takuya Umedachi, Ryo Ide, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro, Advanced Robotics,  Vol. 26, No. 7, pp. 693-707(15),  doi: 10.1163/156855312X626316, 2012 (link)

31. A Soft Deformable Amoeboid Robot Inspired by Plasmodium of True Slime Mold, Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi and Akio Ishiguro, International Journal of Unconventional Computing,  pp. 449-462, Volume 7, Number 6, 2011 (link)

32. 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, Experimental Verification of Fully Decentralized Control Inspired by Plasmodium of True Slime Mold, 梅舘拓也, 武田光一, 中垣俊之, 小林 亮, 石黒章夫, 計測自動制御学会学会誌「計測と制御」(Journal of the Society of Instrument and Control Engineers), Vol.46, No.11, pp.706-712, Nov. 2010 (link)

33. Fully Decentralized Control of a Soft-bodied Robot Inspired by True Slime Mold, Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, and Akio Ishiguro, Biological Cybernetics, Springer, Vol. 102, Issue 3, pp. 261-269, DOI: 10.1007/s00422-010-0367-9, 2010. (pdf)

34. A Modular Robot Driven by Protoplasmic Streaming, Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, and Akio Ishiguro, Distributed Autonomous Robotic Systems, Vol. 8, Springer, pp.193-202, doi: 10.1007/978-3-642-00644-9_17, 2009. (pdf)

35. An Amoeboid Locomotion That Exploits Real-Time Tunable Springs and Law of Conservation of Protoplasmic Mass, Takuya Umedachi, Taichi Kitamura, and Akio Ishiguro, Journal of Robotics and Mechatronics, Vol.20, No.3, pp.449-455,  doi:10.20965/jrm.2008.p0449, June 27, 2008. (pdf)

36. Development of Real-Time Tunable Spring --Toward Independent Control of Position and Stiffness of Joint--, Takuya Umedachi, Yasutake Yamada, and Akio Ishiguro, Journal of Robotics and Mechatronics, Vol.19, No.1, pp.27-33, doi: 10.20965/jrm.2007.p0027, Feb. 20, 2007. (pdf)

Conferences (international, peer-reviewed):

1. “Bistable Tensegrity Robot with Jumping Repeatability Based on Rigid Plate-Shaped Compressors,”  Kento Shimura, Noriyasu Iwamoto, Takuya Umedachi, The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2023), Oct. 2022. (accepted)

2. A Crawling Robot That Utilizes Propagation of Deformation Waves of a Bistable Lattice Actuated by a Single Motor, Horioka, Yuto, Shimizu, Masahiro, Umedachi, Takuya, The 6th IEEE-RAS International Conference on Soft Robotics (RoboSoft2023), Paper Tu_Or1P, 2023 (pdf).

3. 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, The 6th IEEE-RAS International Conference on Soft Robotics (RoboSoft2023), Paper We_Po1S, 2023 (pdf).

4. 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), DOI: 10.1109/LRA.2022.3194947, Oct. 2022. (pdf)

5. 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 (pdf). 

6. Conversion of Elastic Energy Stored in the Legs of a Hexapod Robot into Propulsive Force, Atusushi Kaneko, Masahiro Shimizu, and Takuya Umedachi, The 11th International Conference on Biomimetics and Biohybrid Systems (Living Machines 2022), July 20, 2022 (oral presentation).

7. Measuring Motion of Deformed Surfaces for Soft-bodied Robots/Animals with Multi-colored Markers, Kohei Hanaoka, Masahiro Shimizu, Shunsuke Shigaki, Takuya Umedachi, 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft 2022), 2022 (link)

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

9. 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).

10. 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)

11. 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), Las Vegas, USA, Oct. 2020. (pdf)

12. 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)

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 International Conference on Soft Robotics, Yale University, April 6-9, 2020 (pdf)

14. 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)

15. 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)

16. 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)

17. 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.

18. 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

19. 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).

20. 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).

21. 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).

22. 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, October 2018, Pages 392–395, https://doi.org/10.1145/3267305.3267620 .

23. Learning Oscillator-based Gait Controller for String-form Soft Robots using Parameter-exploring Policy Gradients, Mathew Ishige, Takuya Umedachi, Tadahiro Taniguchi, and Yoshihiro Kawahara, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), DOI: 10.1109/IROS.2018.8594338, Madrid, Spain, Oct. 1-5, 2018 (pdf coming soon, movie).

24. Friction and Stride Variable Cylindrical Robot using Cylindrical Origami of Different Strength and One Actuator, F. Okuya, T. Umedachi, K. Saito, Y. Kawahara, The 7th International Meeting on Origami in Science, Mathematics and Education (7OSME), Oxford, UK., Sep. 8-10, 2018.

25. Caterpillar-inspired Crawling Robot on a Stick using Active-release and Passive-grip Elastic Legs, Takuya Umedachi, and Yoshihiro Kawahara, 2018 IEEE International Conference on Soft Robotics (RoboSoft 2018), Livorno, Italy, April 24-28, 2018 (pdf). 

26. Autonomous Decentralized Control for Soft-bodied Caterpillar-like Modular Robot Exploiting Large and Continuum Deformation, Takuya Umedachi and Barry Trimmer, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, Nov. 11 (10:45-12:15,  Paper TuT12.8), 2016 (pdf).

27. Sensing Dynamic Properties and Interactions with the Environment: Proprioceptive Information for Soft-bodied Machines, Takuya Umedachi and Barry Trimmer, 7th Int. Symposium of Adaptive Motion of Animals and Machines (AMAM2015), MIT, Boston, USA, June 21-25, 2015.

28. Decentralized Control of 1D Crawling Locomotion by Exploiting “TEGOTAE” from Environment, Takeshi Kano, Hironori Chiba, Takuya Umedachi, and Akio Ishiguro, 7th Int. Symposium of Adaptive Motion of Animals and Machines (AMAM2015), MIT, Boston, USA, June 21-25, 2015. (accepted).

29. Design of a 3D-Printed Soft Robot with Posture and Steering Control, Takuya Umedachi and Barry Trimmer, 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), DOI: 10.1109/ICRA.2014.6907272 Hong Kong, China, May. 31- June 7, 2014. (pdf)

30. Autonomous Decentralized Control for Soft Bodied Robots Inspired by True Slime Mold, Takuya Umedachi, The 1st International Symposium on Brainware LSI, Sendai, Japan, March 28, 2014.

31. Highly Deformable 3-D Printed Soft Robot Generating Inching and Crawling Locomotions with Variable Friction Legs, Takuya Umedachi, Vikas Vishesh and Barry Trimmer, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, Nov. 6 (12:00-12:15, Paper WeAT11.5), 2013. (pdf, movie)

32. 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), Tokyo, Japan, 18:12-18:18, Paper MoVT14.13 (Technical Program), Nov. 4, 2013. (pdf)

33. 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), July 29-August 2, 2013 (Best Poster Award on Toshiya Kazama)

34. Caterpillar-like soft-bodied robot exploiting large-deformation continuum behavior, Takuya Umedachi, Vikas Vishesh and Barry Trimmer, 2013 International Workshop on soft robotics, Centro Stefano Franscini (CSF), Monte Verità, Ascona, Switzerland, July 14-19 2013.

35. True-slime-mold-inspired hydrostatic-skeletal amoeboid aobot driven by fully decentralized control, Takuya Umedachi, Ryo Idei, Kentaro Ito and Akio Ishiguro, 6th International Symposium on Adaptive Motion of Animals and Machines (AMAM), Darmstadt, Germany, 11th March, 14:30 - 15:30,  2013.

36. 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), Barcelona, 10:30-11:00 am, 12 July 2012. (Best Paper Award)

37. A Fluid-filled Deformable Robot That Exhibits Spontaneous Switching among Versatile Spatio-temporal Oscillatory Patterns Inspired by True Slime Mold, Takuya Umedachi, Ryo Idei, and Akio Ishiguro, International Sympoium on Adaptive Motion in Animals and Machines (AMAM 2011), poster, Oct. 12, 2011. 

38. A Fluid-filled Soft Robot That Exhibits Spontaneous Switching among Versatile Spatio-temporal Oscillatory Patterns Inspired by True Slime Mold, Takuya Umedachi, Ryo Idei, and Akio Ishiguro

    1. 2nd International Conference on Morphological Computation (ICMC2011), pp.54-56, Sep. 14, 2011.

39. Simulation of a Soft-bodied Fluid-driven Amoeboid Robot That Exploits Thixotropic Flow, Takuya Umedachi, Masakazu Akiyama, Atsushi Tero, and Akio Ishiguro, 2011 IEEE International Conference on Robotics and Automation (ICRA 2011), DOI: 10.1109/ICRA.2011.5980150, pp. 5123-5128, May 12, 2011. (pdf)

40. A Soft-bodied Fluid-driven Amoeboid Robot Inspired by Plasmodium of True Slime Mold, Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, and Akio Ishiguro, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), DOI: 10.1109/IROS.2010.5651149, Taipei, Taiwan, Oct. 20, 2010. (pdf)

41. Orchestrating Large Degrees of Freedom –A Case Study with a Soft-bodied Amoeboid Robot–, Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, and Akio Ishiguro, Unconventional Computation, Tokyo, Japan, June 23, 2010. (Invited talk)

42. Taming Large Degrees of Freedom -A Case Study with an Amoeboid Robot-, Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, and Akio Ishiguro, International Conference on Robotics and Automation (ICRA 2010), DOI: 10.1109/ROBOT.2010.5509498, ThB3.2, Anchorage, US, May 6, 2010 (pdf).

43. 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, and Akio Ishiguro, IROS 2009 Mobiligence: Social Adaptive Functions in Animals and Multi-Agent Systems, St. Louis, Oct. 11, 2009.

44. A Modular Robot Driven by Protoplasmic Streaming, Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, and Akio Ishiguro, The 9th International Symposium on Distributed Autonomous Robotic Systems 2008 (DARS2008), Tsukuba, Dec. 17, 2008.

45. 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 and Ryo Kobayashi, IEEE/RSJ International Conference on Intelligent Robots and Systems Workshops/Tutorial Proceedings CD-ROM, Nice, France, Sep. 22, 2008.

46. A Fully Decentralized Control of an Amoeboid Robot by Exploiting the Law of Conservation of Protoplasmic Mass, Takuya Umedachi, Taichi Kitamura, and Akio Ishiguro, Proc. of IEEE/RSJ International Conference on Robotics and Automation (ICRA2008), WeC7.4, Pasadena, May. 21, 2008. (pdf)

47. Adaptive Amoeboid Locomotion That Exploits Law of Conservation of Protoplasmic Mass, Takuya Umedachi and Akio Ishiguro, Proc. of SICE Annual Conference 2007, Takamatsu, Sep. 20, 2007. (pdf)

48. Amoeboid Locomotion That Exploits Real-time Tunable Springs and Law of Conservation of Protoplasmic Mass, Takuya Umedachi and Akio Ishiguro, Proc. of The 2nd International Symposium on Mobiligence, Awaji, pp263-266, July 20, 2007.

49. Development of Real-time Tunable Spring for Autonomous Mobile Robots and next-generation Information Electronics, Takuya Umedachi and Akio Ishiguro, Proc. Of 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, Session17-3, Sendai, pp358-359, Jan. 25, 2007.

50. Development of a Fully Self-contained Real-time Tunable Spring, Takuya Umedachi and Akio Ishiguro, Proc. of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, WP2-6(3), Beijing, China, Oct. 11, 2006. (pdf, 2006 IEEE Robotics and Automation Society Japan Chapter Young Award)

Conference proceedings (written in Japanese):

1. PME膜ジャミンググリッパを用いた変形開始点検出による繊細な物体把持，榎本 朋，石毛 真修，梅舘 拓也，亀﨑 允啓，川原 圭博，第41回 日本ロボット学会学術講演会（RSJ2023），2C2-06，9月13日，2023．

2. 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.

3. 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.

4. 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.

5. 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.

6. 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.

7. 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. 

8. 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. 

9. 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)

10. 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.

11. 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.

12. 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.

13. 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.

14. 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.

15. 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.

16. 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.

17. 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

18. 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

19. 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，信学ソ大 2019，N-1-4, Sept. 2019.

20. ワイヤ駆動型の柔軟ひも状型ソフト・ロボットの硬さ分布と振る舞いの関係，梅舘拓也，川原圭博，信学ソ大 2018，N-1-4, Sept. 2018. 

21. 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，信学ソ大2018，A-1-11, Sept. 2018. 

22. 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（東京大学）, 梅舘拓也（東京大学）, 斉藤一哉（東京大学）, 川原圭博（東京大学）,  情報処理学会 第80回全国大会, 6A-01, 東京, March. 13-15, 2018. 

23. 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（東京大学）, 斉藤一哉（東京大学）, 梅舘拓也（東京大学）, 川原圭博（東京大学）, 情報処理学会 第80回全国大会, 1V-04, 東京, March. 13-15, 2018. 

24. 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（東京大学），梅舘拓也（東京大学），谷口忠大（立命館大学），川原圭博（東京大学）, 2018年電子情報通信学会総合大会, D-20-5, 東京, March. 20-23, 2018. 

25. Robustness of locomotion speed by decentralized controlled anchoring timing, ○F. Okuya, T. Umedachi, Y. Kawahara, 日本比較生理生物学会 2017，P-071，福岡市, 福岡県，Nov. 2017.

26. 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（東京大学），梅舘拓也（東京大学），川原圭博（東京大学）,  第27回日本数理生物学会年会, 北海道大学, O-13, Oct. 6-8, 2017. 

27. 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,  ○梅舘拓也（東京大学），川原圭博（東京大学）, 第35回 日本ロボット学会学術講演会 RSJ2017, Sep. 11-14, 東洋大学 川越キャンパス, 2017. 

28. 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（東京大学）, 第16回情報科学技術フォーラム, 東京大学 本郷キャンパス工学部２号館, Sep 12, 2017. 

29. 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」・大阪/大阪大学産業科学研究所, July 27, 2017.

30. 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（東京大学），梅舘拓也（東京大学），川原圭博（東京大学），浅見徹（東京大学）, 第22回ロボティクスシンポジア, 6B3, March 15-16, 2017. 

31. 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, 〇 梅舘 拓也（東京大学）、 Barry A Trimmer（タフツ大学）、 川原 圭博（東京大学）, 第29回自律分散システム・シンポジウム, 1A1-3, Tokyo, Japan, Jan. 30, 2017. 

32. 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(東北大学)，加納 剛史(東北大学)，梅舘 拓也(タフツ大学)，石黒 章夫(東北大学),  第293回計測自動制御学会東北支部研究集会, Sendai, Japan, March 9, 2015 (千葉大徳さんが第293回計測自動制御学会東北支部研究発表奨励賞を受賞)

33. 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，1A1-V01，May 25-29, 2014. (pdf)

34. 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, 2A2-3, Tokyo, Japan, Jan. 24, 2014.

35. 大変形シート構造物遊泳推進における身体・流体間相互作用機構理解に向けたソフ トロボティックアプローチ, ○風間俊哉, 梅舘拓也, 石黒章夫, 小林亮, 第31回 日本ロボット学会 学術講演会 (THE 31st ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN), 3K3-03, Tokyo, Japan, Sep. 6, 2013.

36. 仮足を出し入れして環境に適応する超軟性アメーバ様ロボット (Eng title: 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, Sendai, Japan, Jan. 25, 2013.

37. 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, Sendai, Japan, Jan. 25, 2013.

38. 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, Sendai, Japan, Jan. 26, 2013.

39. 真正粘菌変形体に着想を得た多様な振る舞いを示す静水力学的骨格ロボットの実機実現, (Eng title: 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, 第13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 SI2012 (SICE System Integration Division), Hakata, Japan, Dec. 18, 2012.

40. 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 (Eng title: Mathematical Modeling of Adaptive Motor Function Inspired by True Slime Mold), 梅舘拓也，出井遼，伊藤賢太郎，石黒章夫, 第22回 日本数理生物学会 年会 (Japan Society for Mathematical Biology Annual Meeting 2012), Okayama, Japan, Sep. 10-11, 2012.

41. 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, 日本ロボット学会 第30回記念 学術講演会 (THE 30TH ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN), Sapporo, Japan, Sep. 17, 2012.

42. 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 (Eng title: True-Slime-Mold-inspired Robot That Exhibits Versatile Spatio-temporal Oscillatory Patterns), 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「創発 夏の学校」, Otsu, Siga, Japan, Sep. 1-3, 2012.

43. 真正粘菌変形体に着想を得た多様な振る舞いを示す大自由度モジュラーロボット (Eng title: A Large Degree-of-Freedom Modular Robot Exhibiting Versatile Behavior Inspired by Plasmodium of True Slime Mold), 出井遼，梅舘拓也，伊藤賢太郎，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2012 (ROBOMEC2012), Hamamatsu, Japan, May 29, 2012.

44. 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の実機実現 (Eng title: 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・シンポジウム資料, Jan. 28, 2012.

45. 真正粘菌変形体から探るソフトロボットの制御論 (Eng title: Autonomous Decentralized Control of Soft-bodied Robots Inspired by True Slime Mold), 梅舘拓也, 出井遼, 中垣俊之, 小林亮, 石黒章夫, 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-，口頭発表（招待講演), Dec. 2, 2011. (pdf)

46. 真正粘菌変形体が示す多様な時空間振動パターンの発現機序 (Eng title: A Mathematical Model for Spacio-temporal Oscillatory Patterns of True Slime Mold), 出井遼, 梅舘拓也, 伊藤健太郎, 石黒章夫, 第21回 日本数理生物学会 年会, P131, poster, Sep. 14, 2011.

47. 真正粘菌変形体から着想を得た自律分散制御方策 (Eng title: 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−, p. 40, poster, Sep. 7, 2011.

48. 粘菌振動子から着想を得た流体連結型モジュラーロボットが示す多様な時空間振動パターン (Eng title: 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「創発夏の学校2011」, pp. 127-130, poster, Sep. 3, 2011.

49. 粘菌振動子をモチーフにした流体駆動型ロボットが示す多様な時空間振動パターン (Eng title: 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2011 (ROBOMEC2011), May 27-28, 2011.

50. チキソトロピーを活用したアメーバ様ロボットのロコモーション制御  (Eng title: 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, 326, 15:15～17:00 (OS 15. 受動ロコモーションの基礎と進化), Nov. 4, 2010. (優秀発表賞受賞)

51. チキソトロピーを活用したアメーバ運動のモデリング (Eng. title: 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19回 日本数理生物学会, P10, 12:30～14:30, Sep. 16, 2010.

52. 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, (Eng. title: A Fluid-driven Amoeboid 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, 日本機械学会ロボティクス・メカトロニクス講演会2009 (ROBOMEC2010), 1A1-E20, 9:30～11:00, June 15, 2010.

53. 原形質量保存則を活用したアメーバ様ソフトロボットの実機開発 (Eng. title: 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・シンポジウム資料, pp.41-46, Jan. 30, 2010.

54. 真正粘菌変形体をモチーフとした大自由度ソフトロボットの自律分散制御 (Eng. title: Fully Decentralized Control of a Soft-bodied Robot Inspired by Plasmodium of True Slime Mold), 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 システム・情報部門学術講演会2009 (SSI2009) 講演論文集, pp.334-337, Nov. 24, 2009.

55. アメーバ様ロコモーションから探る大自由度システムの自律分散制御方策 (Eng. title: 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創発システム・シンポジウム, Aug. 8, 2009.

56. 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験的検証 (Eng. title: Experimental Verification of a Soft-bodied Robot with Large D.O.F. Inspired by True Slime Mold), 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2009 (ROBOMEC2009), 2A2-F22, May 26, 2009.

57. 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 (Eng. title: Development of a Soft and Supple Robot Inspired by True Slime Mold),  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, pp.145-148, Jan. 23, 2009.

58. 真正粘菌から探る大自由度ロボットの自律分散制御方策 (Eng. title: Development of a Soft and Supple Robot Inspired by 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,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, pp.139-140, Dec. 5, 2008.

59. 原形質による大域的相互作用を活用したアメーバ様ロボットの自律分散制御 (Eng. title: 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, RSJ2008AC3H1-05, Sep. 11, 2008.

60. アメーバ様ロコモーションから探る自律分散制御 (Eng. title: Understanding Autonomous Decentralized Control from Amoeboid Locomotion), 梅舘拓也, 北村太一, 武田光一, 中垣俊之, 小林亮, 石黒章夫, 第14回創発システム・シンポジウム, pp.85-88, Aug. 19, 2008.

61. 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 (Eng. title: Realization of An Amoeboid Locomotion That Exploits Real-time Tunable Springs and Law of Conservation of Protoplasmic Mass), 北村太一, 梅舘拓也, 中垣俊之, 小林亮, 石黒章夫, 第243回SICE東北支部, June 20, 2008. (pdf)

62. 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 (Eng. title: Development of an Amoeboid Robot that Exploits the Law of Conservation of Protoplasmic Mass), 北村太一, 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2008 (ROBOMEC2008), 2A1-G01, June 7, 2008.

63. 原形質量保存則を活用したアメーバ様ロボットの自律分散的ロコモーション生成 (Eng. title: An Autonomous Decentralized Locomotion Control of an Amoeboid Robot That Exploits the Law of Conservation of Protoplasmic Mass), 梅舘拓也, 北村太一, 石黒章夫, 2008第3回移動知シンポ

64. 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 (Eng. title: An Amoeboid Robot That Exploits Real-time Tunable Springs and Law of Conservation of Protoplasmic Mass),  北村太一, 梅舘拓也, 石黒章夫, ロボティクス・メカトロニクス2007，2A1-G02，2007. (pdf)

65. 高い実装性を有する実時間可変弾性要素の開発 (Eng. title: 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，1P1-B23, 早稲田, 2006.

66. 実時間可変弾性要素の開発−関節の位置と剛性の独立制御を目指して− (Eng. title: Development of a Real-time Tunable Spring –Toward Independent Control of Position and Stiffness of Joints–), 梅舘拓也, 岸 弘朗, 山田康武, 石黒章夫, ロボティクス・メカトロニクス講演会，1p2-s-005，神戸, 2005. (ベストプレゼンテーション受賞)

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