Author

Keita Yoneda

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Open access Sep 2026

Interbody Wire for Reconfigurable Robots: Bridging Integrated Morphological Reconfiguration and Distributed Wire‐Mediated Cooperation

Reconfigurable robots address diverse tasks, including locomotion and object manipulation, by changing body configurations. In particular, modular robots expand body functions by connecting multiple body elements into various structures. However, these elements are typically mechanically fixed, and the focus is on func...

Shintaro Inoue, Kento Kawaharazuka, Keita Yoneda et al. · Advanced Intelligent Systems · 0 citations

#reinforcement learning Preprint Aug 2026

Robust Brachiation on a Life-Sized Dual-Arm Robot Using Waypoint-Guided Reinforcement Learning

Effective learning design guidelines for realizing arm-based locomotion on life-sized robotic hardware and expanding the traversable workspace of robots are provided.

Ayumu Iwata, Kento Kawaharazuka, Keita Yoneda et al. · 0 citations

Jul 2026

WARL: Wrench-Augmented Reinforcement Learning for Task-Agnostic Learning in Legged Robots

This study proposes a new method, Wrench-Augmented Reinforcement Learning (WARL), which introduces a wrenche (force and torque) into the action space, and shows that introducing a wrench can encourage behaviors that do not sufficiently exploit the robot's physical embodiment.

Keita Yoneda, Kento Kawaharazuka, Kei Okada · arXiv.org · 0 citations