Workshop 1
Harsh environment robotics – Prof. Fumi Matsuno

1. Fuel cell system development for harsh environment at F-REI – Akihiro IIYAMA, Go Matsuo, Tetsuya Kamihara, Keiji Okada, Atsuko Fukaya, Satoru Imazu, and Masanari Yanagisawa¹
   Drones flying in harsh environments are expected to require long flight times and large payloads, which are difficult to achieve with conventional batteries. We are conducting research and development on the application of hydrogen-fueled polymer electrolyte fuel cells to drones, focusing mainly on weight reduction and durability. An overview of the research and development will be reported.
2. Fluid powered robots for harsh environments – Koichi Suzumori²
   Fluid-powered robots (pneumatic or hydraulic robots) that the author has developed to date are introduced. Pneumatics realizes lightweight and compliance, while hydraulics realizes high power density and environmental resistance. They can be used in harsh environments (rain, dust, shock, unknown environment, etc.).
3. Aerial Interception of Multiple Drones by Multiple Distributed Chasers with Batch Deployments – Nontaphat Charuvajana¹, Panithan Rithburi², Sutthiphong Srigrarom³, Boo Cheong Khoo³ and Florian Holzapfel⁴²
   In this paper, we investigate the problem of air-to-air drone interception for counter-UAS operations, using multi-agent reinforcement learning, strategic surrounding approaches and sequences of deployments. The intruding drones are modelled by Boid Algorithm, analogous to flocks of birds. The fleet of interceptors (agents) are assigned to intercept or chase the intruders mid-air at designated area in batch deployments. For intercepting or catching purpose, we applied the StringNet strategy and greedy strategy to break, herd and encircle several subgroups of targets. We also apply task allocation algorithm to assign each of the agent to track and look for specific target within the subgroup. This allows better chasing effectiveness, when there are limited numbers of intercepting drones, assume equalled to or smaller than the intruding drones. The heuristic task allocation framework is modeled as matching and optimization problem. The preliminary mix-integer, non-linear problem (MINLP) formulations are based on probability of interception and resource readiness. The interceptors are deployed in sequences of batches allowing follow-up action. The single deployment performs better in term of action time, however, the batches deployments give higher success rate due to clearer task assignments. Preliminary works have shown that the combination of the proposed Hunting, heuristic task allocation and batch deployment performed well for as many as 15 intruders, and by 15 interceptors with 100% interceptions.
4. Transfer of Skill from Human to Robot – Kouhei Ohnishi³
   There are many atypical tasks which are easily accomplished by the human but are very difficult for the robot. In most of such cases, the human skills are indispensable but they can not be digitized nor transferred by the communication line. That prevents the robot to use the human skills in such tasks. The paper shows how we can transfer the human skills to the robot. In the proposed strategy, two types of AI are necessary which are corresponding to human cerebrum and cerebellum. The experimental examples based upon this strategy shows that the robot can accomplish sensitive tasks which are carried out only by the human.
5. Intelligent, Autonomous and Swarm Control of Robots in Harsh Environment (Keynote Talk) – Masayoshi Tomizuka⁴
   Japan has many earthquake sources and volcanic zones, and is prone to heavy rains. Although the occurrence of disasters cannot be avoided, it should be possible to save people’s lives and prevent the damage from spreading by utilizing AI and robotics technology. Fukushima Institute of Research Education and Innovation (F-REI) conducts research on intelligent, autonomous and swarm control of robots in harsh environment. Robots include Autonomous Unmanned Aerial Vehicles (AUVs) and Autonomous Unmanned Ground Vehicles (UGVs), and AI support them as enabling technology. AUVs and AGVs have complementary strengths, and their combined use generates synergy. Autonomous AUVs and AGVs are examples of mechatronic systems and they continue to evolve as new decision making methodologies and sensor and computation technologies are introduced. F-REI’s initial research focuses on surveying disaster areas and rescue activities in collaboration with human workers, but in the future, one of our goals is to develop technology that can respond at all points during a disaster, such as evacuation guidance and reconstruction activities, in addition to rescue.

---

1. F-REI ↩︎
2. [1] National University of Singapore, Computer Science Dept, Singapore
   [2] Technical University of Munich Asia, Singapore
   [3] National University of Singapore, Mechanical Engineering Dept, Singapore
   [4] Technical University of Munich, Institute of Flight Systems Dynamics, Germany ↩︎
3. Keio University and F-REI ↩︎
4. Autonomous, Intelligent, and Swarm Control Research Unit – University of California Berkeley and F-REI ↩︎

Workshop 2
Muscle to Mobility (M2): Crafting Soft Robots with Bioinspired Design Principles

This workshop on bioinspired soft robotics aims to bridge biological science and robotics engineering, focusing on the creation of innovative, modular, and adaptive soft robots that can replicate the complex behaviors observed in natural systems. Biological information, such as muscle deformation, tissue composition, and movement dynamics, plays a fundamental role in developing soft robots that can execute sophisticated, lifelike actions. In neuroscience terms, the goal is to understand high-dimensional neuronal networks, including network complexity, interdependencies, and how learning shapes network solutions. The workshop will explore developing a self-organizing neuronal network model of spinal cord circuitry that operates through attractor dynamics, achieving multiple solutions based on the biomechanics of the body. Participants will examine how dynamically evolving sensory synergies stabilize muscle synergies to achieve natural, underactuated movements. This model will include a dynamic, sensorized biomechanical body with skeletal bones, joints, muscles, and skin. These insights will provide the attendees a deep understanding of how to transform biological concepts to develop the soft robotics platform through a creative design process. The workshop will provide a plug-and-play framework for designing soft robotic systems based on the motion dynamics of invertebrates or vertebrates, integrating components such as skeletal bone, connective tissues, and muscle tissues—each optimized for specific functions. For instance, in invertebrates, skeletal bone provides structural support, connective tissue offers flexibility, and muscle tissue delivers soft, compliant, and contractile capabilities. Participants will explore the development process for soft robotic modules, visualized in three phases: understanding biological movement, designing actuators inspired by this movement, and employing a novel manufacturing technique to create precise, dynamic soft systems. A key goal of this workshop is to inspire curiosity and creativity among participants by providing an interactive and interdisciplinary learning experience—from formulating biological hypotheses to designing and fabricating bioinspired robotic modules that mirror natural behaviors. By leveraging the synergy between biology and robotics, attendees will gain insights into creating innovative, adaptive soft robots capable of performing complex tasks, ultimately advancing the field of soft robotics toward more versatile, sustainable, and intelligent systems.

The workshop will cover a range of topics (keywords) including:

• Robotics inspired biology
• Robophysics
• Bioinspired design process
• neuroscience control strategies
• biomechanics of soft bodied animals
• Modular robotic systems
• Sensory augmentation

Speakers:

• Prof. Dr. Henrik Jörntell
• Dr. Hari Teja
• Prof. Poramate Manoopong
• Prof. Dr. Cecilia Laschi
• Prof. Dr. Etienne Burdet
• Dr. Junior Rojas
• Assistant Prof. Dr. Saravana

Call for contributions:
This half-day workshop explores the intersection of biology, modeling, and robotics. It will be held
at SWARMS 2025 on September 2025, in University of Göttingen, Germany. We invite contributions
in the form of 1-page abstracts for poster presentations on the theme of ‘Muscle to Robot Mobility.’
Selected abstracts will be posted on the workshop website and presented as posters or demos
during the workshop’s coffee break. Outstanding submissions will also be featured as 2-minute
lightning talks. We particularly encourage early-career scientists from biology, modeling, and
robotics fields to attend and engage.
We are now accepting 1-page abstracts for poster or demo presentations. To sign up, please use
the Google Forms link provided. Researchers working in bio-inspired robotics, robotics-inspired
biology, or related fields are encouraged to apply.
Important Dates:
Due date: September 15th, notifications by September 17th.