AIConfPaper
← Search

Ryuma Niiyama

18 accepted papers

2024

Augmenting Compliance With Motion Generation Through Imitation Learning Using Drop-Stitch Reinforced Inflatable Robot Arm With Rigid Joints

Gangadhara Naga Sai Gubbala, Masato Nagashima, Hiroki Mori, Young Ah Seong, Hiroki Sato, Ryuma Niiyama +2
RA-L 2024

Safe physical human-robot collaboration is possible with soft robots due to their inherent compliance and low inertia. Soft bodies inherently possess passive compliance, providing adaptability in collaborative tasks because of their deformations; however, the same features add complexity to modeling

Cited by 7Source ↗Scholar ↗
2024

Pneumatic bladder links with wide range of motion joints for articulated inflatable robots

Katsu Uchiyama, Ryuma Niiyama
IROS 2024poster

Exploration of various applications is the frontier of research on inflatable robots. We proposed an articulated robots consisting of multiple pneumatic bladder links connected by rolling contact joints called Hillberry joints. The bladder link is made of a double-layered structure of tarpaulin shee…

Cited by 0Source ↗Scholar ↗
2023

"RobOstrich" Manipulator: A Novel Mechanical Design and Control Based on the Anatomy and Behavior of an Ostrich Neck

Kazashi Nakano, Megu Gunji, Masahiro Ikeda, Keung Or, Mitsuhito Ando, Katsuma Inoue +4
RA-L 2023

Flexible manipulators have high degrees of freedom and deformability, enabling dexterous movements and allowing for unexpected contacts with the environment. Underactuated tendon-drive mechanisms are the most widely adopted because of their simplicity and effectiveness. However, they suffer from dif

Cited by 14Source ↗Scholar ↗
2022

Giraffe Neck Robot: First Step Toward a Powerful and Flexible Robot Prototyping Based on Giraffe Anatomy

Atsuhiko Niikura, Hiroyuki Nabae, Gen Endo, Megu Gunji, Kent Mori, Ryuma Niiyama +1
RA-L 2022

The neck of a giraffe has excellent characteristics that can serve as a good alternative for designing a large robotic mechanism. For example, the neck can rapidly move when performing necking, a motion where the giraffes strike each other’s necks. Furthermore, the neck of a giraffe helps prevent im

Cited by 20Source ↗Scholar ↗
2021

Immediate Generation of Jump-and-Hit Motions by a Pneumatic Humanoid Robot Using a Lookup Table of Learned Dynamics

Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi
RA-L 2021

This letter focuses on the jump-and-hit motion of a humanoid robot, wherein a robot instantaneously jumps forward and hits a flying ball in the air, similar to how human players behave in volleyball games. We propose a Immediate Motion generation using a Lookup table of learned dynamics (IMoLo) for

Cited by 14Source ↗Scholar ↗
2021

Wireless Powered Dielectric Elastomer Actuator

Lai Chen, Takuya Sasatani, Keung Or, Satoshi Nishikawa, Yoshihiro Kawahara, Ryuma Niiyama +1
RA-L 2021

The need for cable connection with soft robotic systems suppresses the benefits granted by their softness and flexibility. Such systems can be untethered by equipping batteries or by relying on non-electrical actuation mechanisms. However, these approaches cannot simultaneously support long-term and

Cited by 1Source ↗Scholar ↗
2020

An Untethered 216-mg Insect-Sized Jumping Robot with Wireless Power Transmission

Riccy Kurniawan, Tamaki Fukudome, Hao Qiu, Makoto Takamiya, Yoshihiro Kawahara, Jinkyu Yang +1
IROS 2020poster

We present the first demonstration of a battery-free untethered wirelessly powered sub-gram jumping robot on an insect-scale. In order to operate the insect-sized robot autonomously, the limitation in battery use emphasizes the need for a wireless power transmission system as an onboard power soluti…

Cited by 19Source ↗Scholar ↗
2020

Laser Pouch Motors: Selective and Wireless Activation of Soft Actuators by Laser-Powered Liquid-to-Gas Phase Change

Takefumi Hiraki, Kenichi Nakahara, Koya Narumi, Ryuma Niiyama, Noriaki Kida, Naoki Takamura +2
RA-L 2020

Untethered control of soft-bodied robots is attractive for interactions in a variety of unstructured and dynamic environments. However, soft robotics systems are currently limited in terms of wireless, selective, and scalable control of multiple actuators. Therefore, we propose a method to wirelessl

Cited by 33Source ↗Scholar ↗
2020

Liquid Pouch Motors: Printable Planar Actuators Driven by Liquid-to-Gas Phase Change for Shape-Changing Interfaces

Koya Narumi, Hiroki Sato, Kenichi Nakahara, Young Ah Seong, Kunihiko Morinaga, Yasuaki Kakehi +2
RA-L 2020

Conventional planar pneumatic actuators have not been able to make the most of their thin, lightweight, and flexible nature due to tubes and pumps inevitably connected to them. In this article, we build upon our prior work and propose Liquid Pouch Motors, a family of printable soft actuators that co

Cited by 52Source ↗Scholar ↗
2020

Soft Inductive Tactile Sensor Using Flow-Channel Enclosing Liquid Metal

Shota Hamaguchi, Takumi Kawasetsu, Takato Horii, Hisashi Ishihara, Ryuma Niiyama, Koh Hosoda +1
RA-L 2020

There are structural challenges in increasing the softness of conventional soft tactile sensors because rigid electrical elements have to be installed around the sensing areas, which should be compressive, stretchable, and durable. To solve these issues, we propose an inductive tactile sensor whose

Cited by 29Source ↗Scholar ↗
2019

Acoustic Length Sensor for Soft Extensible Pneumatic Actuators With a Frequency Characteristics Model

Ken Takaki, Yoshitaka Taguchi, Satoshi Nishikawa, Ryuma Niiyama, Yoshihiro Kawahara
RA-L 2019

In this study, we present a length sensor that can be used for extensible soft pneumatic actuators. Conventional length sensors detect the changes in electrical resistance and capacitance owing to the deformation of the actuator; hence, deterioration and destruction occur when they are used with an

Cited by 20Source ↗Scholar ↗
2019

High-Speed Humanoid Robot Arm for Badminton Using Pneumatic-Electric Hybrid Actuators

Shotaro Mori, Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi
RA-L 2019

We describe the development of a robot configured to play badminton, a dynamic sport that requires high accuracy. We used pneumatic-electric hybrid actuators, each combining a pneumatic actuator, with high-speed and lightweight attributes, and an electric motor with good controllability. Our first o

Cited by 40Source ↗Scholar ↗
2018

Continuous Shape Changing Locomotion of 32-legged Spherical Robot

Hiroki Nozaki, Yusei Kujirai, Ryuma Niiyama, Yoshihiro Kawahara, Takuro Yonezawa, Jin Nakazawa
IROS 2018poster

Shape changing robot is an approach towards locomotion on uncertain terrain due to its omni-directional features. However, the current locomotion method for such robots rely on discontinuous rolling. We propose a free form locomotion: an omni directional continuous crawling for deformable robots. Th…

Cited by 19Source ↗Scholar ↗
2018

Coordinated Use of Structure-Integrated Bistable Actuation Modules for Agile Locomotion

Satoshi Nishikawa, Yusuke Arai, Ryuma Niiyama, Yasuo Kuniyoshi
RA-L 2018

It is difficult to design agile soft-bodied robots owing to their inherent softness. To overcome this problem, we propose a structure-integrated bistable module that uses snap-through buckling for agile motions. First, we confirmed that a 0.05-m-long module was able to jump to 0.13 m high. Through i

Cited by 17Source ↗Scholar ↗
2018

Development of a Musculoskeletal Humanoid Robot as a Platform for Biomechanical Research on the Underwater Dolphin Kick

Yasuaki Ishii, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi
IROS 2018poster

The dolphin kick is a swimming style characterized by undulation of the body. As a platform for swimming research, we have developed a musculoskeletal humanoid robot called Triton. Triton has a flexible spine with erector spinae muscles and a stiffness adjustment system for lumbar joints. The muscul…

Cited by 2Source ↗Scholar ↗
2018

High-Speed and Lightweight Humanoid Robot Arm for a Skillful Badminton Robot

Shotaro Mori, Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi
RA-L 2018

Sports, especially badminton, require participants to perform dynamic and skillful motions. Previous robots have had difficulty in performing like a human because of their severe limitations of low operating speed, heavy bodies, and simplistic mechanisms. In this letter, we propose a new robot desig

Cited by 39Source ↗Scholar ↗
2017

Electric phase-change actuator with inkjet printed flexible circuit for printable and integrated robot prototyping

Kenichi Nakahara, Koya Narumi, Ryuma Niiyama, Yoshihiro Kawahara
ICRA 2017poster

The integrated fabrication of body structures, actuators, sensors, and electronic circuits into one robot system is an open problem in robotics. Simple and rapid construction of electric actuators in the body through existing approaches is difficult. We take advantage of the liquid-to-gas phase chan…

Cited by 63Source ↗Scholar ↗
2015

Self-folding and self-actuating robots: A pneumatic approach

Xu Sun, Samuel M. Felton, Ryuma Niiyama, Robert J. Wood, Sangbae Kim
ICRA 2015poster

Self-assembling robots can be transported and deployed inexpensively and autonomously in remote and dangerous environments. In this paper, we introduce a novel self-assembling method with a planar pneumatic system. Inflation of pouches translate into shape changes, turning a sheet of composite mater…

Cited by 60Source ↗Scholar ↗