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  1. No Access

    Chapter and Conference Paper

    Autonomous Wheeled Locomotion on Irregular Terrain with Tactile Sensing

    Adopting the concept of the tactile wheel, which considers the interaction between the wheel and the ground, this paper simulates reinforcement learning to show the usefulness of tactile sensing for autonomous...

    Hiroki Tomioka, Masahiro Ikeda, Keung Or, Ryuma Niiyama… in Robotics in Natural Settings (2023)

  2. Article

    Open Access

    Soft Actuation and Compliant Mechanisms in Humanoid Robots

    We aimed to reveal the impact of soft robotics, which has developed in the last decade, on humanoid robotics research. Although humanoid robots are usually classified as hard robotics, softness should be integ...

    Ryuma Niiyama in Current Robotics Reports (2022)

    Download PDF (1714 KB) View Article

  3. No Access

    Article

    Creating and modulating rhythms by controlling the physics of the body

    The motion behaviors of vertebrates require the correct coordination of the muscles and of the body limbs even for the most stereotyped ones like the rhythmical patterns. It means that the neural circuits have...

    Alexandre Pitti, Ryuma Niiyama, Yasuo Kuniyoshi in Autonomous Robots (2010)