Updated on 2026/03/10

写真a

 
NIIYAMA RYUMA
 
Organization
Undergraduate School School of Science and Technology Associate Professor
Title
Associate Professor
Homepage
https://kaken.nii.ac.jp/d/r/00734592.ja.html
External link

Degree

  • 博士（学際情報学）

Research Interests

  • inflatable robot

  • soft robotics

  • bio-inspired robot

Research Areas

  • Informatics / Intelligent robotics

Education

  • The University of Tokyo   Graduate School of Interdisciplinary Information Studies

    2005.4 - 2010.3

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    Country/Region： Japan

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  • The University of Tokyo   The Faculty of Engineering   Department of Mechano-Informatics

    2002.4 - 2005.3

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    Country/Region： Japan

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Research History

  • Meiji University   School of Science and Technology   Senior Assistant Professor

    2022.4

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  • The University of Tokyo   The Graduate School of Information Science and Technology   Lecturer

    2014.4 - 2022.3

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Papers

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Books

  • やわらかいロボット

    新山 龍馬（ Role： Sole author）

    金子書房  2018.7  （ ISBN:9784760893935 ）

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    Total pages：iv, 168, 8p   Language：Japanese  

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  • 超ロボット化社会 : ロボットだらけの未来を賢く生きる

    新山, 龍馬（ Role： Sole author）

    日刊工業新聞社  2019.4  （ ISBN:9784526079764 ）

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    Total pages：173p   Language：Japanese  

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MISC

  • Kinesthetic Sensing exploiting flexibility of the Ostrich’s Neck inspired Manipulator

    中野風志, 井上克馬, 郡司芽久, 望山洋, 新山龍馬, 中嶋浩平, 國吉康夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2023   2023

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  • Markerless Posture Estimation of Flexible Cord-like Objects by Video Processing with Deep Learning

    安藤潤人, 大場大成, 中野風志, 郡司芽久, 野間春生, 望山洋, 新山龍馬

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2023   2023

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  • Ostrich-inspired Hyper-underactuated Robot Manipulator for mounting on Wheelchair-Prototype Version 1-

    望山洋, 田中健斗, 残華宏和, 新山龍馬, 中野風志, 郡司芽久, 安藤潤人

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2023   2023

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  • ダチョウの首の筋配置と関節可動域を模した連続マニピュレータによるリーチング動作

    中野風志, 呉克華, 池田昌弘, 柯強, 郡司芽久, 望山洋, 新山龍馬, 國吉康夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   40th   2022

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  • A Study of Sagittal Motions with a Flexible Manipulator Based on the Anatomy of the Ostrich Neck

    中野風志, 池田昌弘, OR Keung, 翠健仁, 郡司芽久, 望山洋, 新山龍馬, 國吉康夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2022   2022

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  • やわらかいロボットとバイオメカニクス : 動物に学び、動物を超える、しなやかなロボットをめざして—特集 "やわらか"発想で拓(ひら)くソフトロボット学

    新山 龍馬

    Milsil : 自然と科学の情報誌   14 ( 4 )   9 - 11   2021.7

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    Language：Japanese   Publisher：国立科学博物館  

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  • Development of the nuchal ligament and elastic joints of the musculoskeletal robot based on giraffe neck

    NIIKURA Atsuhiko, NABAE Hiroyuki, ENDO Gen, GUNJI Megu, MORI Kent, NIIYAMA Ryuma, SUZUMORI Koichi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2021   2A1-I11   2021

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    Necks of giraffes have excellent characteristics as a robot mechanism. In order to gather knowledge to realize power-soft robots that have both powerfulness and flexibility, we focus on necks of giraffes from the point of view of robotics We develop a half sized musculoskeletal robot with vertebrae, disks, a nuchal ligament and thin McKibben pneumatic artificial muscles based on anatomy of giraffe and actual skeletal shape. The nuchal ligament is one of the most remarkable features of a neck of giraffe and expected to play an important role in its gravity compensation mechanism. To apply these mechanisms to robot mechanism, we mimic disks and a nuchal ligament with rubber in the developed musculoskeletal robot and confirmed that the musculoskeletal robot was able to stand with disks of elastic joints and the nuchal ligament, not supported by artificial muscles.

    DOI： 10.1299/jsmermd.2021.2a1-i11

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  • Motion generation of a soft sheet-like swimming robot using physical reservoir computing

    HORII Yuta, INOUE Katsuma, NISHIKAWA Satoshi, NAKAJIMA Kohei, NIIYAMA Ryuma, KUNIYOSHI Yasuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2021   2P2-G16   2021

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    In recent years, swimming robots have been developed to achieve efficient propulsion and high maneuverability. Previous researches have tried to achieve fish-like swimming by control based on physical models and top-down architectures, but have encountered problems due to high complexity of the underwater environment. Other researches have tried to overcome these problems by mimicking the physical properties of fish. To achieve more intelligent swimming, we argue that a control architecture that uses physical dynamics as a computational resource is needed. In this study, a soft sheet-like swimming robot achieves motion emulation and environment estimation through a control architecture based on physical reservoir computing.

    DOI： 10.1299/jsmermd.2021.2p2-g16

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  • Embodiment of Soft Robots

    NIIYAMA Ryuma

    Journal of The Society of Instrument and Control Engineers   59 ( 11 )   796 - 799   2020.11

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    Language：Japanese   Publisher：The Society of Instrument and Control Engineers  

    DOI： 10.11499/sicejl.59.796

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  • Current Trends and Future Challenges in Soft Robotics

    64   300 - 303   2020.5

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    Language：Japanese  

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  • トクシュウ 『 AI ノ イデンシ 』 ニ マナブ ミライ コウソウジュツ

    61 ( 1 )   71 - 77   2020.1

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    Language：Japanese  

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  • Funeral for a Sleeping Android

    61 ( 1 )   49 - 53   2020.1

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  • Throwing a Ball of the Pneumatically-Controlled Continuum Robot Arm using Reinforcement Learning with Movement Primitives

    森本亮太, 西川鋭, 新山龍馬, 國吉康夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2020   1P2-J05   2020

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    Previous research on reinforcement learning for continuum robot arms have been dealt with a relatively small number of active degrees of freedom and made experiments of simple tasks such as reaching. We aimed to learn to throw a ball by reinforcement learning in a pneumatically-controlled continuum robot arm that has nine actuators. We adopt Cost-regularized Kernel Regression (CrKR) which uses dynamic movement primitives (DMPs) which is one of the movement primitives. In the simulation, the continuum arm was able to learn how to throw a ball forward. We made the same experiment for our real continuum robot arm and found that the learning progressed in the experiment.

    DOI： 10.1299/jsmermd.2020.1p2-j05

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  • Prototyping of musculoskeletal robot based on anatomy of neck of giraffes and performance test

    Niikura Atsuhiko, Nabae Hiroyuki, Endo Gen, Gunji Megu, Mori Kent, Niiyama Ryuma, Suzumori Koichi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2020   1P1-L03   2020

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    The neck of Giraffe has excellent characteristics as a long robot mechanism. The neck of giraffe can move violently represented in necking, a motion striking necks each other. Further, in a necking motion, a neck of a giraffe wards off impacts and adapts to the shape of the opponent. On the other hand, conventional robot mechanisms have hardly achieved both powerfulness and kinematic and dynamic flexibility to the opponent. In order to apply these excellent characteristics of necks of a giraffe to robot mechanisms, we developed a half-size musculoskeletal robot prototype based on anatomical knowledge of the neck of giraffes and the skeletal shape of an actual giraffe. The musculoskeletal robot protype is actuated by thin McKibben pneumatic artificial muscles, which bent flexibly, and we confirmed adaptability to an external force.

    DOI： 10.1299/jsmermd.2020.1p1-l03

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  • Competitive physical interaction by reinforcement learning agents using predictive models

    野田裕貴, 西川鋭, 新山龍馬, 國吉康夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2020   1P1-G06   2020

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    Though there are a lot of researches about Physical Human-robot Interaction (pHRI) using prediction, few researches work on inducing the opponent’s action or outwitting the opponent. We made the push-hand game environment in order to focus on generating strategic actions and tried to make reinforcement learning agents to learn these actions by adding rewards which are directly proportional to the degree of inducement (induction reward) or the degree of outwitting (outwitting reward), defined in this research. As a result, we demonstrated that the induction reward decreases the agent’s predictive error and the outwitting reward increases the opponent’s predictive error, and both of them didn’t contribute to the winning percentage.

    DOI： 10.1299/jsmermd.2020.1p1-g06

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  • BlowFab : レーザ加工による再利用可能で硬質なインフレータブル構造体の造形—BlowFab : Prototyping for Reusable and Rigid Inflatable Objects using Laser Cutter—若手研究者

    山岡 潤一, 新山 龍馬, 筧 康明

    ヒューマンインタフェース学会論文誌 The transactions of Human Interface Society   21 ( 1-4 )   61 - 71   2019

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    Language：Japanese   Publisher：ヒューマンインタフェース学会  

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  • Soft Robotics: Past and Future

    Niiyama Ryuma

    Journal of the Robotics Society of Japan   37 ( 1 )   16 - 21   2019

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    <p></p>

    DOI： 10.7210/jrsj.37.16

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  • 体幹の"しなやかさ"をつくる

    Journal of the Society of Mechanical Engineers   122 ( 1205 )   12 - 14   2019

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    DOI： 10.1299/jsmemag.122.1205_12

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  • Design Principles of Embodied Intelligence for Soft Robots

    IIDA Fumiya, NIIYAMA Ryuma, KUNIYOSHI Yasuo

    Journal of The Society of Instrument and Control Engineers   58 ( 10 )   791 - 797   2019

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    Language：Japanese   Publisher：The Society of Instrument and Control Engineers  

    DOI： 10.11499/sicejl.58.791

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  • Toward Deformable and Transformable Robot

    Niiyama Ryuma

    SYSTEMS, CONTROL AND INFORMATION   63 ( 12 )   493 - 498   2019

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    Language：Japanese   Publisher：THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS  

    DOI： 10.11509/isciesci.63.12_493

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  • On special issue “Soft Robotics”

    Niiyama Ryoma, Tahara Kenji

    Journal of the Robotics Society of Japan   37 ( 1 )   2 - 3   2019

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    DOI： 10.7210/jrsj.37.2

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  • Reduction of the Effect of Spinning Ball in Table Tennis by High Speed Swinging using Flexible Arm

    TAKEDA Mitsuru, NISHIKAWA Satoshi, NIIYAMA Ryuma, KUNIYOSHI Yasuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2019 ( 0 )   1P2 - F09   2019

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    <p>In table tennis robots, a spinning ball is difficult to be returned to the opponent court because its direction of bound is dependent on the spinning direction and amount. We aimed to solve this problem by swing motion that is robust over a large range of spinning pattern without accurate recognition of spinning. Specifically, we examined the relation between swing speed and returning direction. When the racket speed was 7 m/s, the difference of returning direction reduced to 20 % compared to no swing against the spinning ball in the range from -20 rev/s to 20 rev/s. In addition, we focused on the flexibility of swinging arm to increase the swing speed. We found that a flexible arm swung faster than a rigid arm in the whole range of motion when exploiting the joint angle limit.</p>

    DOI： 10.1299/jsmermd.2019.1P2-F09

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  • Prediction of flexible objects deformation during manipulating the objects by LSTM

    ITO Ryuichiro, KANAI Takayuki, OHMURA Yoshiyuki, NIIYAMA Ryuma, KUNIYOSHI Yasuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2019 ( 0 )   1P2 - C15   2019

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    <p>Representation and modeling of flexible objects is relatively difficult because these objects are deformed by external forces. When robots handle these objects, it is crucial to predict the deformation caused by external forces they add during manipulation. Somatosensory information has essential information to predict the deformation, but a method for prediction of deformation by multi-mordal information is not established. In this paper, we conducted experiments to predict cloth deformation images not by directly modeling the objects, but by using a deep neural network model. The model consists of Long-Short-Term-Memory module, which has visual images and somatosensory information as input. We manipulated dual-arm manipulator, handled cloth and collected visual and somatosensory data. Compared to inputting only visual images, the model is able to output vivid and long term prediction by using both visual images and somatosensory data.</p>

    DOI： 10.1299/jsmermd.2019.1P2-C15

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  • The ROBOT イノベーション × ビジネス

    ニイヤマ リュウマ

    62 ( 13 )   20 - 23   2018.11

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  • ロボティクスが作り出すリアリティ (特集 Bio-inspired Reality : VRからBRヘ)

    新山 龍馬

    日本バーチャルリアリティ学会誌 = Journal of the Virtual Reality Society of Japan   23 ( 3 )   13 - 16   2018.9

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    Language：Japanese   Publisher：日本バーチャルリアリティ学会  

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  • 新学術領域「ソフトロボット学」の概要—特集 ロボットにおけるソフトマターの活用

    鈴森 康一, 新山 龍馬, 前田 真吾

    Soft matter = ソフトマター : “やわらかい物質”と計測・評価の技術情報誌   ( 7 )   10 - 12   2018

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    Language：Japanese   Publisher：メカニカル・テック社  

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  • Efficient exploration with parameter noise in deep reinforcement learning

    KARINO Izumi, TANAKA Kazutoshi, NIIYAMA Ryuma, KUNIYOSHI Yasuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2018 ( 0 )   1A1 - C15   2018

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    <p>In recent years, reinforcement learning has developed rapidly with deep learning and achieves great performance not only in the game playing but also in the continuous control of robots. Reinforcement learning requires exploratory behavior, and action noise is widely used to realize it. Recent researches have tackled exploration problems in deep reinforcement learning by using parameter noise. It has been experimentally shown that parameter noise performs a better exploration than commonly used action noise. However, the methods used so far need long time to update noise distribution or explore uniformly in a huge parameter space by using isotropic noise distribution. This paper proposes a method which improves the update of the noise distribution for faster learning.</p>

    DOI： 10.1299/jsmermd.2018.1A1-C15

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  • Development of pneumatically actuated musculoskeletal humanoid for dolphin kick research

    ISHII Yasuaki, NISHIKAWA Satoshi, NIIYAMA Ryuma, KUNIYOSHI Yasuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2018 ( 0 )   2P2 - F09   2018

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    <p>The dolphin kick is the swimming style with an undulation of a body conducted after start and turn. Practicing dolphin kick is one of the effective way for improving swimmers' record. It has been researched using real swimmers, simulation and robots. Dolphin kick research requires a combination of these methods. However, existing robots have inadequate points including their body size and lack of a flexible spine. Thus, we developed human-scale pneumatically actuated musculoskeletal humanoid called Triton. It has flexible spine and adjustment system for lumbar joint stiffness. We conducted preliminary experiments that compare time-series of thrust force and joint angle between Triton and experimental results with simulations and human data.</p>

    DOI： 10.1299/jsmermd.2018.2P2-F09

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  • Liquid Pouch Motors:紙のインタフェースのための薄く軽く柔軟なアクチュエータ

    鳴海紘也, 鳴海紘也, 中原健一, 佐藤宏樹, 新山龍馬, 川原圭博

    日本ソフトウェア科学会研究会資料シリーズ(Web)   ( 83 )   2018

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  • 甲虫後翅の折り畳みに基づく展開翼の開発

    斉藤一哉, 舘知宏, 新山龍馬, 川原圭博

    日本応用数理学会年会講演予稿集(CD-ROM)   2017   401‐402   2017.9

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    Language：Japanese  

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  • Introduction to Soft Robotics

    56 ( 6 )   1 - 6   2017.6

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    Language：Japanese  

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  • Control of the handspring robot with rolling-jumping locomotion

    CHO Haruki, NISHIKAWA Satoshi, NIIYAMA Ryuma, KUNIYOSHI Yasuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017 ( 0 )   1P1 - B11   2017

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    <p>The continuous motion composed of rolling and jumping such as continuous handspring is useful as the locomotion of robots. In order to realize the continuous handspring, we propose a multi-link robot model composed of two limbs and a body and the control law for the model. We verified the controller using the combination of attack angle control and the control based on the angular momentum of the robot in the simulation. In the verification, the robot model realized 100,000 steps in the continuous handspring in the certain environment. In addition, it realized 20 steps after the temporary change of coefficient of static friction of the floor from infinity to four and over in the verification of the robustness against the temporary disturbance.</p>

    DOI： 10.1299/jsmermd.2017.1P1-B11

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  • Development of humanoid robot arm for badminton with high accelerration and high speed wrist

    MORI Shotaro, TANAKA Kazutoshi, NISHIKAWA Satoshi, NIIYAMA Ryuma, KUNIYOSHI Yasuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   2A2-E04   2017

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    Badminton needs dynamic and high speed motion, so previous humanoid robots were difficult to perform like human. For entertaining or training humanoid badminton robot in the future, we propose new robot arm which consists of structure integrated pneumatic cable cylinder and noninterfering many DoFs joints. We made a real robot arm with high acceleration and high speed wrist and conducted some performance evaluation test. Pronation joint achieved 32.4rad/s in 90 deg, which surpasses human wrist speed in badminton smash. It has also good reproducibility for dynamic feed-forward control or learning control. We also make it hit actual shuttle, and shuttle's initial velocity achieved 28m/s by full swing. And it succeeded skillful shot, spin hairpin, by utilizing the humanlike wrist. This research is the first step toward humanoid badminton robot.

    DOI： 10.1299/jsmermd.2017.2a2-e04

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  • Reservoir Computing with Body Structures and Dynamics

    FUJITA Kenichi, YONEKURA Syogo, NISHIKAWA Satoshi, NIIYAMA Ryuma, KUNIYOSHI Yasuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017 ( 0 )   1P2 - N11   2017

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    <p>Some actual creatures calculate not only on their brain but also on their body itself. This is called morphological computation. Physical reservoir computing, which uses body itself as a neural network like system, is one approach of the way of morphological computation. The purpose of this research is to understand the effect of body structure and environment around it by the experiments with Tensegrity structures. When spring constant was large, structures were hard to move and dropped its ability. When input amplitude was large, input could counteract the effect of past input and dropped its ability. In addition, the environment around the body especially how to contact with ground (coefficient of restitution) gave large effect on calculation. With ground, the convergence oscillation's period and amplitude changed.</p>

    DOI： 10.1299/jsmermd.2017.1P2-N11

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  • Development of a structure integrated pneumatic cable cylinder robot executing a jump-hit motion

    TANAKA Kazutoshi, NISHIKAWA Satoshi, CHEN Xi, NIIYAMA Ryuma, KUNIYOSHI Yasuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   2A2-E03   2017

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    Humanoid robots must execute situation-adaptive whole-body dynamic movements to protect humans. However, design of such robots have been unclear. Thus, our aim is to clarifying a design method of a robot executing a jump-hit motion representing these movements. For such a robot, we developed a light, high power and large stroke pneumatic actuation system equipped with a cable cylinder integrated in a link structure and made of custom-made plastic parts. We developed an arm robot, a leg robot, and an arm-equipped legged robot with this system and evaluated their physical performance. In experiments, the developed robot executed different jump-hit motions against a ball flying from the different directions.

    DOI： 10.1299/jsmermd.2017.2a2-e03

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  • The Effect of Viscoelasticity on the Emergent Behavior of Soft Robots through Coupled Chaotic Field

    HORIUCHI Kie, NIIYAMA Ryuma, KUNIYOSHI Yasuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017 ( 0 )   1A1 - J08   2017

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    <p>In the real world, robots have to adapt to the change of their body properties and environment. Coupled chaotic field was proposed for dynamic emergence and adaptation of embodied behavior reflecting the current body-environment dynamics. This model is suitable for soft robotics. However, the system had not been adopted into soft robotics. We applied it to a simulation model and a real soft robot and showed their adaptive motions. Moreover, we investigated the influence of body softness on emergent behavior in the simulation model. We showed the body softness makes the movement of the robot unstable and changeable and the moving range enlarged.</p>

    DOI： 10.1299/jsmermd.2017.1A1-J08

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  • Bistable構造を用いた変形モジュールロボットによるダイナミックな運動の生成

    新井悠介, 西川鋭, 新山龍馬, 國吉康夫

    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(CD-ROM)   17th   2016

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  • 2A1-L08 Online generation of robot locomotion based on information maximization

    NAMIOKA Norimasa, YAMADA Yasunori, NIIYAMA Ryuma, KUNIYOSHI Yasuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2015   "2A1 - L08(1)"-"2A1-L08(4)"   2015.5

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    In real world, modification and generation of locomotion are important for autonomous moving robots as well as animals. Many studies show that central pattern generators (CPGs) allow robots to produce robust periodic motions. However, generating substantially new locomotor behaviors is still difficult because methods such as CPGs require parameter tuning in advance. In this paper, we show that maximization of mutual information for sensory time series allows robot system to generate locomotor behaviors. Using simulation we found that quadruped and snake robots can generate several locomotor patterns with several environmental setups although with no prior knowledge for their bodies and environments. Furthermore, both in computer simulations and robot experiments we show that maximization of mutual information enables soft-body robot to generate locomotor behaviors in a self-organized manner. Our results suggest that methods focusing on sensorimotor information may realize autonomous moving robots which can keep moving when unpredictable changes in their bodies and environments occur.

    DOI： 10.1299/jsmermd.2015._2a1-l08_1

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  • 1P2-D06 Development of shape-changing robotic exterior via inflation and deflation

    MAEDA Kenichiro, NIIYAMA Ryuma, KUNIYOSHI Yasuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2015   "1P2 - D06(1)"-"1P2-D06(4)"   2015.5

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    Many robots and machines advance into our society recently, and the necessity of making sure of improving safety is more and more increasing. We develop a new shape-changing robotic exterior. This robotic exterior is made of air bladders, and able to change its shape via inflation and deflation. It is soft, light, economical, and not disturbing primarily behavior of an objective which wear this robotic exterior. And we apply it to a real robot and do some experiments in order to evaluate performance of it. Consequently, we show that this robotic exterior has many functions such as shock mitigation and improvement of grasping behavior.

    DOI： 10.1299/jsmermd.2015._1p2-d06_1

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  • 「動き」と「構造」がであう

    NIIYAMA RYUMA, SONODA KOHEI, NISHIO CHIHIRO, MUTO TAKASHI, HOSODA NAOYA

    日本発達心理学会大会論文集   26th   66   2015.2

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  • MIT, Robot, Future

    Niiyama Ryuma

    Journal of the Robotics Society of Japan   31 ( 9 )   874 - 876   2013

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    DOI： 10.7210/jrsj.31.874

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    Other Link： https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-21330154/

  • 筋骨格系駆動のヒト規範足部を備えたロボットによる跳躍

    NISHIKAWA SATOSHI, SHIDA KAZUYA, NIIYAMA RYUMA, KUNIYOSHI YASUO

    日本ロボット学会学術講演会予稿集(CD-ROM)   30th   ROMBUNNO.2C2-3   2012.9

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  • 筋骨格ロボットによる走行実現のための筋賦活パタン制御

    NISHIKAWA SATOSHI, NIIYAMA RYUMA, KUNIYOSHI YASUO

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2010   ROMBUNNO.1A2-A07   2010.6

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  • 1A2-A07 Muscle Activation Pattern Control for Running of Musculoskeletal Robot

    NISHIKAWA Satoshi, NIIYAMA Ryuma, KUNIYOSHI Yasuo

    ロボティクス・メカトロニクス講演会講演概要集   2010   "1A2 - A07(1)"-"1A2-A07(4)"   2010

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    Language：Japanese   Publisher：一般社団法人日本機械学会  

    Despite the considerable complexity of the human musculoskeletal system, human beings are capable to move with great dexterity and ease even under instable conditions as during running. In order to understand the control mechanisms underlying the generation of such skill-full behaviors, we propose to study running, a highly dynamic motion, using an anthropomorphic bipedal robot. To do so, we propose a method called Muscle Activation Pattern Control based on physiological observations of athlete runners that we apply in a simulation of our running robot. Using this method, we show that the robot can autonomously acquire patterns of running motion over 3m/s.

    DOI： 10.1299/jsmermd.2010._1a2-a07_1

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  • 床反力制御による筋骨格ヒト型ロボットの走行

    NIIYAMA RYUMA, NISHIKAWA SATOSHI, KUNIYOSHI YASUO

    日本ロボット学会学術講演会予稿集(CD-ROM)   28th   ROMBUNNO.1P1-6   2010

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  • Laval Virtual 2009 (報告1)

    新山 龍馬

    日本バーチャルリアリティ学会誌 = Journal of the Virtual Reality Society of Japan   14 ( 2 )   108   2009.6

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  • 2A1-F20 A Musculoskeletal Baby Robot with a Spinal Structure

    NARIOKA Kenichi, NIIYAMA Ryuma, HOSODA Koh, KUNIYOSHI Yasuo

    ロボティクス・メカトロニクス講演会講演概要集   2009   "2A1 - F20(1)"-"2A1-F20(4)"   2009.5

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    Motor skills and cognitive abilities of a human are acquired during its infancy, while the mechanism of their development is still a big mystery. Our goal is to clarify the role of embodiment in the early stage of the development through experiments with a real baby robot. To study full-body and compliant interaction with the environment, we build a babysize musculoskeletal robot driven by McKibben pneumatic artificial muscles. The robot has a spinal structure that allows various motions of the trunk such as extension, flexion, and axial rotation. This paper describes a design concept of the baby robot and its behaviors. This robot can be useful platform for many researches associated with cognitive developmental robotics.

    DOI： 10.1299/jsmermd.2009._2a1-f20_1

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  • A Musculoskeletal Baby Robot with a Spinal Structure

    NARIOKA KEN'ICHI, NIIYAMA RYUMA, HOSODA KO, KUNIYOSHI YASUO

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2009   ROMBUNNO.2A1-F20 - _2A1-F20_4   2009.5

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    Motor skills and cognitive abilities of a human are acquired during its infancy, while the mechanism of their development is still a big mystery. Our goal is to clarify the role of embodiment in the early stage of the development through experiments with a real baby robot. To study full-body and compliant interaction with the environment, we build a babysize musculoskeletal robot driven by McKibben pneumatic artificial muscles. The robot has a spinal structure that allows various motions of the trunk such as extension, flexion, and axial rotation. This paper describes a design concept of the baby robot and its behaviors. This robot can be useful platform for many researches associated with cognitive developmental robotics.

    DOI： 10.1299/jsmermd.2009._2a1-f20_1

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  • 筋骨格ロボットを用いた跳躍運動の学習

    KAKITANI KEI, NIIYAMA RYUMA, KUNIYOSHI YASUO

    ロボティクスシンポジア予稿集   14th   380 - 385   2009.3

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  • A Baby Robot with an Artificial Musculoskeletal System

    NARIOKA KEN'ICHI, NIIYAMA RYUMA, HOSODA KO, KUNIYOSHI YASUO

    日本ロボット学会学術講演会予稿集(CD-ROM)   26th   ROMBUNNO.1J2-01   2008.9

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  • バイオメカニクスからみたバランス 人工筋骨格アーキテクチャを備えたヒト型ロボットとバランス制御

    NIIYAMA RYUMA, KUNIYOSHI YASUO

    バイオメカニクス研究   11 ( 4 )   327 - 337   2008.4

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  • Musculoskeletal Robot with Anti-Gravity Muscle and Bi-Articular Muscle

    NIIYAMA RYUMA, KUNIYOSHI YASUO

    日本ロボット学会学術講演会予稿集(CD-ROM)   25th   1F27   2007.9

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  • 1A1-F03 A Dynamic Robot with a Pneumatic Artificial Musculoskeletal System

    NIIYAMA Ryuma, KUNIYOSHI Yasuo

    ロボティクス・メカトロニクス講演会講演概要集   2007   "1A1 - F03(1)"-"1A1-F03(4)"   2007.5

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    Language：Japanese   Publisher：一般社団法人日本機械学会  

    To understand dexterity in motion performed by animals, we developed a bipedal dynamic robot with a pneumatic artificial musculoskeletal system. The musculoskeletal system gives animals the ability to move in a huge variety of environments. The artificial musculoskeletal system proposed here is based on the engineering concept of using biological structures as guidelines for robot architecture. In our work, pneumatic artificial muscles are used for the muscular system. In the experiment, the robot achieved the high jumping, softlanding and kicking football. Our results demonstrate the contribution of the artificial musculoskeletal system as a physical feedback loop in explosive movements.

    DOI： 10.1299/jsmermd.2007._1a1-f03_1

    DOI： 10.7210/jrsj.28.386_references_DOI_RQSk86tFfNlDhYhStTmsUwS2mz0

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  • A Dynamic Robot with a Pneumatic Artificial Musculoskeletal System

    NIIYAMA RYUMA, KUNIYOSHI YASUO

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2007   1A1-F03   2007.5

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  • 人工筋骨格アーキテクチャを備えたヒト型ロボットとバランス制御 (特集 バイオメカニクスからみたバランス)

    新山 龍馬, 國吉 康夫

    バイオメカニクス研究   11 ( 4 )   327 - 337   2007

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    Language：Japanese   Publisher：日本バイオメカニクス学会  

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  • 筋骨格系のバイオメカニクスに基づく跳躍・着地ロボットの開発

    NIIYAMA RYUMA, KUNIYOSHI YASUO

    ロボティクスシンポジア予稿集   11th   50 - 55   2006.3

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  • Concept of Dynamic 3D Display Act Like Creatures

    NIIYAMA RYUMA, FUJITA MARIKO, KAWAGUCHI YOICHIRO

    日本バーチャルリアリティ学会大会論文集(CD-ROM)   10th   1C3-6 - 419   2005.9

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  • Development of Musculoskeletal Robot for Jumping and Landing

    NIIYAMA RYUMA, KUNIYOSHI YASUO

    日本ロボット学会学術講演会予稿集(CD-ROM)   23rd   3F17   2005.9

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  • 2P1-N-046 Musculoskeletal Robot for Jumping and Landing(Cognitive Robotics 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    NIIYAMA Ryuma, KUNIYOSHI Yasuo

    ロボティクス・メカトロニクス講演会講演概要集   2005   188   2005.6

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    DOI： 10.1299/jsmermd.2005.188_1

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  • Musculoskeletal Robot for Jumping and Landing

    NIIYAMA RYUMA, KUNIYOSHI YASUO

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2005   2P1-N-046   2005.6

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Awards

  • SII 2022 Best Paper Award

    2022.1   IEEE/SICE  

    Fumiya Nakano, Yuma Niiyama, Shunji Yamanaka

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  • DC EXPO SIGGRAPH賞 および DCAJ会長賞

    2021.11   一般財団法人 デジタルコンテンツ協会  

    新山龍馬, 佐藤宏樹, 辻村和正, 鳴海紘也, ソン・ヨンア, 山村亮介, 筧康明, 川原圭博

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  • UIST 2020 Best Demo Award

    2020.10   ACM  

    Ryuma Niiyama, Hiroki Sato, Kazzmasa Tsujimura, Koya Narumi, Young ah Seong, Ryosuke Yamamura, Yasuaki Kakehi, Yoshihiro Kawahara

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  • RoboSoft2020 Best Paper Award Runner Up

    2020.6   IEEE  

    Koya Narumi, Hiroki Sato, Kenichi Nakahara, Young ah Seong, Kunihiko Morinaga, Yasuaki Kakehi, Ryuma Niiyama, Yoshihiro Kawahara

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  • DIS 2019 Best Paper Award

    2019.6   ACM  

    Ryosuke Nakayama, Ryo Suzuki, Satoshi Nakamaru, Ryuma Niiyama, Yoshihiro Kawahara,Yasuaki Kakehi

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  • RoboSoft 2019 Best Demonstration Award

    2019.4   IEEE  

    Young Ah Seong, Ryuma Niiyama, Yoshihiro Kawahara, Yasuo Kuniyoshi

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  • UIST 2017 Best Paper Honorable Mention Award

    2017.10   ACM  

    Junichi Yamaoka, Ryuma Niiyama, Yasuaki Kakehi

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  • UIST 2013 Best Paper Award

    2013.10   ACM  

    Lining Yao, Ryuma Niiyama, Jifei Ou, Sean Follmer, Clark Della Silva, Hiroshi Ishii

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  • CLAWAR Industrial Robot Innovation Award Highly commended

    2009.9   CLAWAR Association  

    Ryuma Niiyama, Yasuo Kuniyoshi

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  • 日本ロボット学会研究奨励賞

    2006.9   日本ロボット学会  

    新山 龍馬

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Research Projects

  • ソフトロボット学の総括

    Grant number：18H05465  2018.6 - 2023.3

    日本学術振興会  科学研究費助成事業  新学術領域研究(研究領域提案型)

    鈴森 康一, 新山 龍馬, 清水 正宏, 田中 博人, 福田 憲二郎, 多田隈 建二郎, 中嶋 浩平, 前田 真吾, 伊藤 浩史, 難波江 裕之

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    Grant amount：\236340000 （ Direct Cost: \181800000 、 Indirect Cost：\54540000 ）

    研究者間の連絡を密にし，「三層異分野融合」や「ボトムアップエンジン/トップダウンステアリング」といった工夫を凝らして，領域の効果的な運営体制を構築した．その結果多くの融合研究成果創出に結びつけた.総括班会議は2か月に1度の頻度で定期的に開催するとともに，slackを通じて日常的に密な連携体制を構築した．
    【領域内連携推進】 領域全体会議を1泊2日のスケジュールで2回実施した．また，公募研究と既存の研究班とのマッチングセッションを実施した．これにより，領域における各公募研究の学術的役割を明確にするとともに，計画研究と公募研究が連携する下地作りに成功した．ソフトロボット試作のノウハウを互いに教えあう勉強会(クラフトワークショップ)や重要な学術課題を勉強しあう勉強会(ソフロボ数理勉強会)を企画，実施した．
    【共有研究拠点の運営】 東工大と阪大にそれぞれ共同研究拠点を設置，整備し，領域研究者で共同利用を行った．専任の技術員の配置，設備使用講習会開催，予約・遠隔モニタリングシステム整備，等，効率的な管理運営を実施した．
    【領域外連携】OPERA(ソフトマターロボティクス)との連携を進め，合同シンポジウムを共催した．日本機械学会，日本ロボット学会等，関連学会と連携し，学会誌における特集号刊行，講演会やシンポジウムの合同開催等を多数行った．
    【国際連携】本領域主催の国際ワークショップを開催した．海外の有力研究者を招いて情報交換を行うとともに，今後連携協力体制を確立した．IEEEのロボットに関する主要な講演会(ICRA，IROS，RoboSoft，AIM等)において，ワークショップやオーガナイズドセッションを多数開催した．
    【人材育成】スーパー若手人材育成計画に沿って，若手研究者/博士課程学生の在外研究を支援した．

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  • 弾性連続体の動的ふるまいの解明とバイオメカニクス融合

    Grant number：18H05466  2018.6 - 2023.3

    日本学術振興会  科学研究費助成事業  新学術領域研究(研究領域提案型)

    新山 龍馬, 望山 洋, 郡司 芽久, 安藤 潤人, 國吉 康夫

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    Grant amount：\172640000 （ Direct Cost: \132800000 、 Indirect Cost：\39840000 ）

    本研究では、動物の脊柱に見られるしなやかな弾性連続体の役割に注目し、ロボティクスの観点から人工的な脊柱の設計と制御の枠組みを構築することを目指す。生物の身体とその運動原理に迫る学際的なアプローチをとる。ロボットの身体に超多自由度の構造を新たに導入することは、俊敏さと巧みさを備えたしなやかなロボットの実現につながる。
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    2021年度は、ダチョウ規範型（ostrich-inspired）マニピュレータとしてRobostrich armと名付けた超冗長ロボットアームについて複数のハードウェアを用いた実験を行った。マニピュレータはワイヤ駆動される。人間が操作した時のワイヤ張力を、モータ駆動によって再現できる実験系を構築し、頭部の持ち上げの成功に関わる張力の推移を分析した。ダチョウ首の解剖学的構造に基づく、より精緻な機構を備えたマニピュレータの開発を行った。このマニピュレータにおいて首の上下運動が実現できた。また、弾性要素の付加し、重力のみで起こる受動的な動作についても計測を行った。このほか、骨の周囲を柔軟材料で覆った関節を製作し、弾性を計測してモデル化を行った。ダチョウの筋配置についてより詳しい情報が必要となったため、追加の文献調査を行い、重量比等の知見を収集した。制御の観点からは、さまざまな位置に頭部を動かすことを目標に強化学習実験を行い、冗長マニピュレータにおいてもリーチング動作が獲得できることを示した。開発したマニピュレータを移動ロボットに搭載した場合の諸問題の検討も開始した。

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  • Clarification of the mechanisms of gripping pattern changing in the tendrils of Cayratia japonica and its application in engineering

    Grant number：17K18851  2017.6 - 2022.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Challenging Research (Exploratory)

    Kazuya Saito

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    Grant amount：\6500000 （ Direct Cost: \5000000 、 Indirect Cost：\1500000 ）

    Cayratia japonica (Thunb.) Gagnep. which belongs to the Vitaceae family can select proper tendril shapes according to support shapes despite the fact that it has neither "brain" nor "eyes". In this study, we conducted an experiment to investigate the success rate of gripping by contacted supports of various diameters. We also developed the 3D motion tracking system of the tendril to investigate the 3D shape of coiling process. Our results showed that the tendrils of C. japonica tend to coil at a fixed diameter until contact occurs regardless of the shape and size of the object.

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  • musculoskeletal humanoid robot with soft actuators for biomechanics studies

    Grant number：15H05320  2015.4 - 2018.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Young Scientists (A)

    NIIYAMA Ryuma

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    Grant amount：\24180000 （ Direct Cost: \18600000 、 Indirect Cost：\5580000 ）

    The goal of this research is developing an anthropomorphic active dummy of human body with muscle-driven bio-inspired humanoid robot. We developed a thin flexible pneumatic actuator that mimic bionic muscle. In the pilot studies, we conducted vertical jumping experiments with a legged robot and arm swing experiments with high-speed robot arm. We integrated these components into a full body musculoskeletal humanoid robot. We chose swimming movements for the experiments. In a large water tank, the robot performed dolphin kick motions. The orientation and thrust force are measured in the experiment. We verified that the musculoskeletal robot can be a research platform for biomechanics studies.

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  • Automated Actuator Arrangement for Scalable Sheet-based Origami Robots

    Grant number：15K12115  2015.4 - 2017.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Challenging Exploratory Research

    Niiyama Ryuma

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    Grant amount：\3640000 （ Direct Cost: \2800000 、 Indirect Cost：\840000 ）

    We focused on an automatic robot design algorithm and digital fabrication technology for scalable origami robots. Pneumatic actuators are employed to embed actuators in robot structures. Developed small scale robots are based on insect wing that have an elastic origami structure based on bio-inspired approach. We also used inflatable structure for large scale robots. The proposed system accepts desired 3D shape and motion as input. Then, the system automatically scale and arrange actuators on origami structure.

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