| 2025 | IECON | Generation of Mixing and Transporting Motion for Peristaltic Mixing Pumps by Autonomous Decentralized Control Using Local Feedback with a Discrepancy Function. | Koya Tsurumi, Ryosuke Adachi, Takaaki Tanno, Fumio Ito, Tomoki Hanamura, Takuya Umedachi, Taro Nakamura |
| 2023 | IROS | Bistable Tensegrity Robot with Jumping Repeatability Based on Rigid Plate-Shaped Compressors. | Kento Shimura, Noriyasu Iwamoto, Takuya Umedachi |
| 2022 | IROS | In-hand Manipulation Exploiting Bending and Compression Deformations of Caterpillar-Locomotion-Inspired Fingers. | Tomoya Onodera, Noriyasu Iwamoto, Takuya Umedachi |
| 2022 | ICRA | Printable Origami Bistable Structures for Foldable Jumpers. | Tung D. Ta, Zekun Chang, Koya Narumi, Takuya Umedachi, Yoshihiro Kawahara |
| 2020 | IROS | Blind Bin Picking of Small Screws Through In-finger Manipulation With Compliant Robotic Fingers. | Matthew Ishige, Takuya Umedachi, Yoshihisa Ijiri, Tadahiro Taniguchi, Yoshihiro Kawahara |
| 2020 | IROS | 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 | IROS | A Multigait Stringy Robot with Bi-stable Soft-bodied Structures in Multiple Viscous Environments. | Tung D. Ta, Takuya Umedachi, Yoshihiro Kawahara |
| 2019 | ICRA | Inkjet Printable Actuators and Sensors for Soft-bodied Crawling Robots. | Tung D. Ta, Takuya Umedachi, Yoshihiro Kawahara |
| 2018 | IROS | Learning Oscillator-Based Gait Controller for String-Form Soft Robots Using Parameter-Exploring Policy Gradients. | Matthew Ishige, Takuya Umedachi, Tadahiro Taniguchi, Yoshihiro Kawahara |
| 2018 | ICRA | Design of Frictional 2D-Anisotropy Surface for Wriggle Locomotion of Printable Soft-Bodied Robots. | Tung D. Ta, Takuya Umedachi, Yoshihiro Kawahara |
| 2016 | IROS | Autonomous decentralized control for soft-bodied caterpillar-like modular robot exploiting large and continuum deformation. | Takuya Umedachi, Barry A. Trimmer |
| 2014 | ICRA | Design of a 3D-printed soft robot with posture and steering control. | Takuya Umedachi, Barry Trimmer |
| 2013 | IROS | Locomotion diversity in an underwater soft-robot inspired by the polyclad flatworm. | Toshiya Kazama, Koki Kuroiwa, Takuya Umedachi, Yuichi Komatsu, Ryo Kobayashi |
| 2013 | IROS | Highly deformable 3-D printed soft robot generating inching and crawling locomotions with variable friction legs. | Takuya Umedachi, Vishesh Vikas, Barry Trimmer |
| 2011 | ICRA | Simulation of a soft-bodied fluid-driven amoeboid robot that exploits thixotropic flow. | Takuya Umedachi, Masakazu Akiyama, Atsushi Tero, Akio Ishiguro |
| 2010 | IROS | 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 | ICRA | Taming large degrees of freedom. | Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro |
| 2008 | ICRA | A fully decentralized control of an amoeboid robot by exploiting the law of conservation of protoplasmic mass. | Takuya Umedachi, Taichi Kitamura, Akio Ishiguro |
| 2006 | IROS | A Development of a Fully Self-contained Real-time Tunable Spring. | Takuya Umedachi, Akio Ishiguro |