Takuya Umedachi

J-GLOBAL         Last updated: Mar 8, 2019 at 16:10
 
Avatar
Name
Takuya Umedachi
E-mail
takuya.umedachigmail.com
Affiliation
The University of Tokyo
Research funding number
60582541
ORCID ID
0000-0002-2244-9963

Research Interests

 
 

Research Areas

 
 

Academic & Professional Experience

 
Apr 2016
 - 
Today
Project Lecturer, Graduate School of Information Science and Technology, The University of Tokyo
 
Apr 2014
 - 
Mar 2016
Postdoctoral Fellow for Research Abroad of the Japan Society for the Promotion of Science, Department of Biology, Tufts University
 
Dec 2012
 - 
Mar 2014
Research fellow of of the Japan Society for the Promotion of Science, Department of Biology, Tufts University
 
Apr 2011
 - 
Dec 2012
Research Fellow of the Japan Society for the Promotion of Science, Department of Mathematical and Life Sciences, Hiroshima University
 
2010
 - 
2011
Research fellow of Japan Science and Technology Agency, Department of Engineering, Tohoku University
 

Education

 
Apr 2003
 - 
Mar 2005
Department of Computational Science and Engineering, Graduate School of Engineering, Nagoya University
 
Apr 1999
 - 
Mar 2003
Physical Science and Engineering, Department of Engineering, Nagoya University
 

Published Papers

 
Takuya Umedachi, Shunya Horikiri, Ryo Kobayashi, Akio Ishiguro
Adaptive Behavior   1(12)    Mar 2015   [Refereed]
Abstract: Autonomous decentralized control is a key concept for understanding the adaptive and versatile behaviors of living systems. To establish a design methodology for such a controller for robotic systems, we have proposed a fully decentraliz...
Takuya Umedachi, Kentaro Ito, Akio Ishiguro
Adaptive Behavior   1(11)    Jan 2015   [Refereed]
Abstract: The goal of this research is to understand the underlying mechanism of the behavioral diversity of animals and then use the findings to build truly adaptive robots. Behavioral diversity is an inherent feature of all animals, and it is al...
Takuya Umedachi, Ryo Idei, Kentaro Ito, Akio Ishiguro
Bioinspiration & Biomimetics   8(3)    Sep 2013   [Refereed]
Abstract: Behavioural diversity is an indispensable attribute of living systems, which makes them intrinsically adaptive and responsive to the demands of a dynamically changing environment. In contrast, conventional engineering approaches struggle...
Takuya Umedachi, Ryo Idei, Kentaro Ito, Akio Ishiguro
Artificial Life (MIT Press)   19(1) 67-78   Jan 2013   [Refereed]
Abstract: Behavioural diversity is an indispensable attribute of living systems, which makes them intrinsically adaptive and responsive to the demands of a dynamically changing environment. In contrast, conventional engineering approaches struggle...
Toshiya, Kazama, Koki Kuroiwa, Takuya Umedachi, Yuichi Komatsu, Ryo Kobayashi
Biomimetic and Biohybrid Systems Lecture Notes in Computer Science   8064 390-392   2013   [Refereed]
Takuya Umedachi, Ryo Idei, Akio Ishiguro
Biomimetic and Biohybrid Systems, Lecture Notes in Computer Science   7375/2012 262-273   Jul 2012   [Refereed]
Abstract: Behavioral diversity is one essential feature of living systems in order to exhibit adaptive behavior in hostile and dynamically changing environments. However, classical engineering approaches strive to avoid the behavioral diversity of...
Takuya Umedachi, Ryo Ide, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro
Advanced Robotics   26(7) 693-707   2012   [Refereed]
Abstract: This paper presents a fluid-filled soft-bodied amoeboid robot inspired by the plasmodium of the true slime mold. The significant features of this robot are 2-fold. (i) The robot has a fluid circuit (i.e., cylinders and nylon tubes filled...
Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi and Akio Ishiguro
International Journal of Unconventional Computing   7(6) 449-462   2011   [Refereed]
Abstract: This paper presents a soft-bodied amoeboid robot inspired by plasmodium of true slime mold. The significant features of this robot are twofold: (1) the robot has truly soft and deformable body stemming from periodically expanding and con...
UMEDACHI Takuya, TAKEDA Koichi, NAKAGAKI Toshiyuki, KOBAYASHI Ryo, ISHIGURO Akio
Transactions of the Society of Instrument and Control Engineers   46(11) 706-712   Nov 2010   [Refereed]
Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, and Akio Ishiguro
Biological Cybernetics   102(3) 261-269   Mar 2010   [Refereed]
Abstract: Animals exhibit astoundingly adaptive and supple locomotion under real world constraints. In order to endow robots with similar capabilities, we must implement many degrees of freedom, equivalent to animals, into the robots’ bodies. For ...
Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro
Distributed Autonomous Robotic Systems   8 193-202   Nov 2009   [Refereed]
Abstract: Self-reconfigurable robots are expected to exhibit various interesting abilities, such as adaptivity and fault tolerance. These remarkable abilities originate from the fact that their mechanical systems intrinsically possess very large d...
Takuya Umedachi, Taichi Kitamura, and Akio Ishiguro
Journal of Robotics and Mechatronics   20(3) 449-455   Jun 2008   [Refereed]
Abstract: The control and mechanical systems of an embodied agent should be tightly coupled so as to emerge useful functionalities such as adaptivity. This indicates that the mechanical system as well as the control system should be responsible fo...
Takuya Umedachi, Yasutake Yamada, Akio Ishiguro
Journal of Robotics and Mechatronics   19(1) 27-33   Feb 2007   [Refereed]
Abstract: Traditionally, robot control has been done typically by "highly precise control algorithms": their joint angle trajectories are accurately determined at any time with vast amount of computation. This, however, causes serious problems, pa...

Conference Activities & Talks

 
An Amoeboid Robot That Exploits Real-time Tunable Springs and Law of Conservation of Protoplasmic Mass
Taichi Kitamura, Takuya Umedachi, Akio Ishiguro
Robomec2007   2007   
Takuya Umedachi, Barry A. Trimmer
2014 IEEE International Conference on Robotics and Automation (ICRA 2014)   May 2014   
Abstract: Both postural maintenance and rhythm generation are keys to generating adaptive behavior in all animals. This is particularly evident in soft animals such as caterpillars, worm and flatworms that are capable of moving freely in all direc...
Takuya Umedachi [Invited]
Takuya Umedachi
The 1st International Symposium on Brainware LSI   28 Mar 2014   
Takuya Umedachi, Vikas Vishesh, Trimmer
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)   13 Nov 2013   
Abstract: Soft and continuum robots have the useful capability of adopting intricate postures and conforming to complex shapes. Furthermore, structures built from soft materials propagate mechanical energy from one part of the body to another, dep...
Toshiya Kazama, Koki Kuroiwa, Takuya Umedachi, Yuichi Komatsu, Ryo Kobayashi
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)   4 Nov 2013   
Abstract: The underwater soft-robot inspired by polyclad flatworms has been developed. The oval, flat, soft body of the flatworm was represented by a rubber sheet. The sheet was controlled by controls with three degrees of freedom to allow flappin...
(no english title)
Takuya Umedachi
THE 31st ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN   6 Sep 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
The International Conference on Biomimetic and Biohybrid Systems (Living Machines 2013)   29 Jul 2013   
Caterpillar-like soft-bodied robot exploiting large-deformation continuum behavior
Takuya Umedachi, Vikas Vishesh, Barry Trimmer
2013 International Workshop on soft robotics   14 Jul 2013   
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)   11 Mar 2013   
Highly Deformable Amoeboid Robot That Negotiates Environments by Using Pseudopods
Ryo Idei, Takuya Umedachi, Kentaro Ito, Ryo Kobayashi, Akio Ishiguro
25 Jan 2013   
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   18 Dec 2012   
(no english title)
Ryo Idei, Takuya Umedachi, Kentaro Ito, Akio Ishiguro
THE 30TH ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN   17 Sep 2012   
Mathematical Modeling of Adaptive Motor Function Inspired by True Slime Mold
Takuya Umedachi
Japan Society for Mathematical Biology Annual Meeting 2012   10 Sep 2012   
True-Slime-Mold-inspired Robot That Exhibits Versatile Spatio-temporal Oscillatory Patterns
Takuya Umedachi, Ryo Idei, Kentaro Ito, Akio Ishiguro
1 Sep 2012   
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)   12 Jul 2012   
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   29 May 2012   
Realization of a True Slime Mold-inspired Robot That Exhibits Versatile Spatio-temporal Oscillatory Patterns
Ryo Idei, Takuya Umedachi, Akio Ishiguro
25 Jan 2012   
Autonomous Decentralized Control of Soft-bodied Robots Inspired by True Slime Mold
Takuya Umedachi, Ryo Idei, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro
2 Dec 2011   
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)   12 Oct 2011   
A Mathematical Model for Spacio-temporal Oscillatory Patterns of True Slime Mold
Ryo Idei, Takuya Umedachi, Kentaro Ito, Akio Ishiguro
14 Sep 2011   
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)   14 Sep 2011   
Fully Decentralized Control Inspired by Plasmodium of True Slime Mold
Takuya Umedachi, Ryo Idei, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro
7 Sep 2011   
A Fluidic-interacted Modular Robot That Exhibits Versatile Spatio-temporal Oscillatory Patterns Inspired by Slime Mold
Takuya Umedachi, Ryo Idei, Akio Ishiguro
3 Sep 2011   
A Slime Mold-inspired Fluid-filled Robot That Exhibits Versatile Spatio-temporal Oscillatory Patterns
Ryo Idei, Takuya Umedachi, Akio Ishiguro
ROBOMEC2011   27 May 2011   
Takuya Umedachi, Masakazu Akiyama, Atsushi Tero, and Akio Ishiguro
2011 IEEE International Conference on Robotics and Automation (ICRA 2011)   9 May 2011   
Abstract: Email
Print
Request Permissions
Save to Project

This paper presents a two-dimensional simulation model of an amoeboid robot that exhibits locomotion in a decentralized manner. The significant feature to note is that the ...
Locomotion Control of an Amoeboid Robot That Exploits Thixotropic Flow
Takuya Umedachi, Masakazu Akiyama, Atsushi Tero, Akio Ishiguro
4 Nov 2010   
Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, and Akio Ishiguro
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)   20 Oct 2010   
Abstract: Animals exhibit astoundingly adaptive and supple locomotion under real world constraints. In order to endow robots with similar capabilities, we must implement many degrees of freedom, equivalent to animals, into the robots' bodies. For ...
Modeling of Amoeboid Locomotion That Exploits Thixotropic Flow
Takuya Umedachi, Masakazu Akiyama, Atsushi Tero, Akio Ishiguro
16 Sep 2010   
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   23 Jun 2010   
A Fluid-driven Amoeboid Robot That Exploits Law of Conservation of Protoplasmic Mass
Koichi Takeda, Takuya Umedachi, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro
ROBOMEC2010   15 Jun 2010   
Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro
International Conference on Robotics and Automation (ICRA 2010)   6 May 2010   
Abstract: Animals exhibit astoundingly adaptive and supple locomotion under real world constraints. In order to endow robots with similar capabilities, we must implement large degrees of freedom, equivalent to animals, into the robots' bodies. For...
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
30 Jan 2010   
TAKEDA Koichi, UMEDACHI Takuya, NAKAGAKI Toshiyuki, KOBAYASHI Ryo, ISHIGURO Akio
2010   
This paper presents a soft-bodied fluid-driven amoeboid robot inspired by plasmodium of true slime mold. Significant features of this robot are twofold: (1) the robot has fluidic circuit (i.e., nylon tubes filled with fluid) and truly soft and def...
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   24 Nov 2009   
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   11 Oct 2009   
Understanding Autonomous Decentralized Control of Many-Degree-of-Freedom from Amoeboid Locomotion
Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro
8 Aug 2009   
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   26 May 2009   
TAKEDA Koichi, KITAMURA Taichi, UMEDACHI Takuya, NAKAGAKI Toshiyuki, KOBAYASHI Ryo, ISHIGURO Akio
25 May 2009   
This paper presents a soft-bodied amoeboid robot inspired by true slime mold. Significant features of this robot are twofold: (1) the robot has highly soft and deformable body stemming from real-time tunable springs and a balloon, the former is ut...
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)   17 Dec 2008   
Development of a Soft and Supple Robot Inspired by True Slime Mold
Taichi Kitamura, Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro
8 Dec 2008   
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   22 Sep 2008   
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   11 Sep 2008   
Understanding Autonomous Decentralized Control from Amoeboid Locomotion
Takuya Umedachi, Taichi Kitamura, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro
19 Aug 2008   
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
20 Jul 2008   
Development of an Amoeboid Robot that Exploits the Law of Conservation of Protoplasmic Mass
Taichi Kitamura, Takuya Umedachi, Akio Ishiguro
ROBOMEC2008   7 Jun 2008   
KITAMURA Taichi, UMEDACHI Takuya, ISHIGURO Akio
6 Jun 2008   
The control and mechanical systems of an embodied agent should be tightly coupled so as to emerge useful functionalities such as adaptivity. This indicates that the mechanical system as well as the control system should be responsible for a certai...
Takuya Umedachi, Taichi Kitamura, Akio Ishiguro
IEEE/RSJ International Conference on Robotics and Automation (ICRA2008)   21 May 2008   
Abstract: The control and mechanical systems of an embodied agent should be tightly coupled so as to emerge useful functionalities such as adaptivity. This indicates that the mechanical system as well as the control system should be responsible fo...
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   
Takuya Umedachi, Akio Ishiguro
SICE Annual Conference 2007   20 Sep 2007   
Abstract: This paper intensively discusses how adaptive locomotion under unstructured and dynamically changing environment can be realized from the perspective of long-distance interaction and local interaction dynamics induced in bodies. To this ...
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   20 Jul 2007   
WATANABE Wataru, UMEDACHI Takuya, ISHIGURO Akio
11 May 2007   
This study is intended to intensively discuss how control and mechanical systems should be coupled by taking a 2D serpentine robot consisting of multiple body segments as a case study. In order to realize "well-balanced" coupling between control a...
UMEDACHI Takuya, ISHIGURO Akio
11 May 2007   
This paper is intended to intensively discuss how intelligence of real-time adaptability can be designed from perspective of "embodied system". One of the significant features of our approach is that we explicitly exploit an "emergent phenomenon" ...
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   25 Jan 2007   
Takuya Umedachi, Akio Ishiguro
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems   11 Oct 2006   
Abstract: Traditionally, robot control has been done typically by “highly precise control algorithms”: the position of each movablebodypartisaccuratelydeterminedatanytimewithvast amount of computation. This, however, causes serious problems, parti...
UMEDACHI Takuya, TANAKA Naoto, YAMADA Yasutake, ISHIGURO Akio
2006   
Traditionally, robot control has been done typically by "highly precise control algorithms": the position of each movable body part is accurately determined at any time with vast amount of computation. This, however, causes serious problems, parti...

Others

 
Technologyreview.com introduced Slimy, Slimy II and our latest research (article title: Amoeboid Robot Navigates Without a Brain)
http://www.technologyreview.com/view/427185/amoeboid-robot-navigates-without-a-brain/
Wired.co.uk introduced Slimy (article title: Amoeboid blob-bot navigates with no central brain)
http://www.wired.co.uk/news/archive/2012-03/13/amoeboid-robot