Publications & Achievements

11 international conference and journal papers (3 as first author), 10 domestic conference papers and 2 awards. Every entry on this page is generated from a single BibTeX file.

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First-Author Papers (International & Journal)

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

Keita Yoneda, Kento Kawaharazuka, Kei Okada

Proceedings of the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

arXiv Project page

EFGCL: Learning Dynamic Motion Through Spotting-Inspired External Force Guided Curriculum Learning

Keita Yoneda, Kento Kawaharazuka, Kei Okada

IEEE Robotics and Automation Letters (RA-L), 2026

Paper arXiv Project page

KLEIYN: A Quadruped Robot with an Active Waist for Both Locomotion and Wall Climbing

Keita Yoneda, Kento Kawaharazuka, Temma Suzuki, Takahiro Hattori, Kei Okada

Proceedings of the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Paper arXiv Project page

Co-Authored Papers (International & Journal)

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

    Ayumu Iwata, Kento Kawaharazuka, Keita Yoneda, Takahiro Hattori, Kei Okada

    Proceedings of the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

  2. MEVIUS2: Practical Open-Source Quadruped Robot with Sheet Metal Welding and Multimodal Perception

    Kento Kawaharazuka, Keita Yoneda, Shintaro Inoue, Temma Suzuki, Junichi Oda, Kei Okada

    IEEE Robotics and Automation Practice, 2026

  3. REWW-ARM—Remote Wire-Driven Mobile Robot: Design, Control, and Experimental Validation

    Takahiro Hattori, Kento Kawaharazuka, Temma Suzuki, Keita Yoneda, Kei Okada

    Advanced Intelligent Systems, 2026, e202501034

    Paper

  4. Analysis of various manipulator configurations based on multi-objective black-box optimization

    Kento Kawaharazuka, Keita Yoneda, Takahiro Hattori, Shintaro Inoue, Kei Okada

    Advanced Robotics, 2026, 83–92

    Paper

  5. MEVITA: Open-Source Bipedal Robot Assembled from E-Commerce Components via Sheet Metal Welding

    Kento Kawaharazuka, Shogo Sawaguchi, Ayumu Iwata, Keita Yoneda, Temma Suzuki, Kei Okada

    IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2025

  6. PIMBS: Efficient Body Schema Learning for Musculoskeletal Humanoids with Physics-Informed Neural Networks

    Kento Kawaharazuka, Takahiro Hattori, Keita Yoneda, Kei Okada

    IEEE Robotics and Automation Letters (RA-L), 2025

  7. An RGB-D Camera-Based Multi-Small Flying Anchors Control for Wire-Driven Robots Connecting to the Environment

    Shintaro Inoue, Kento Kawaharazuka, Keita Yoneda, Sota Yuzaki, Yuta Sahara, Temma Suzuki, Kei Okada

    Proceedings of the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

  8. Design Optimization of Three-Dimensional Wire Arrangement Considering Wire Crossings for Tendon-driven Robots

    Kento Kawaharazuka, Shintaro Inoue, Yuta Sahara, Keita Yoneda, Temma Suzuki, Kei Okada

    Proceedings of the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Awards

Domestic Conferences

  1. Backflip Motion Generation Based on Reinforcement Learning with External Force Guided Curriculum Learning Using Quadruped Robot KLEIYN with Waist Joint

    Keita Yoneda, Kento Kawaharazuka, Kei Okada

    Proceedings of the 26th SICE System Integration Division Annual Conference (SI2025), 2025

  2. Giant Swing Motions on a Life-Sized Dual-Arm Robot via Energy-Based Reward Design and Sim-to-Real Transfer

    Ayumu Iwata, Kento Kawaharazuka, Keita Yoneda, Kei Okada

    Proceedings of the 26th SICE System Integration Division Annual Conference (SI2025), 2025, 3A2-17

  3. Reinforcement Learning for Standing-Up and Bipedal Walking with the Waist-Jointed Quadruped Robot KLEIYN

    Keita Yoneda, Kento Kawaharazuka, Takahiro Hattori, Kei Okada

    The 43rd Annual Conference on Robotics Society of Japan (RSJ2025), 2025, 3M2-05

  4. 等身大双腕ロボットの強化学習による鉄棒大車輪動作の獲得

    Ayumu Iwata, Kento Kawaharazuka, Keita Yoneda, Kei Okada

    The 43rd Annual Conference on Robotics Society of Japan (RSJ2025), 2025, 3M2-02

  5. Characterization and control of remote wire-driven mobile robot REWW-ARM

    Takahiro Hattori, Kento Kawaharazuka, Temma Suzuki, Keita Yoneda, Kei Okada

    The 43rd Annual Conference on Robotics Society of Japan (RSJ2025), 2025, 1D3-01

  6. MEVITA: E-Commerceにより誰でも簡単に構築可能なオープンソース二足歩行ロボット

    Kento Kawaharazuka, Shogo Sawaguchi, Ayumu Iwata, Keita Yoneda, Temma Suzuki, Kei Okada

    The 43rd Annual Conference on Robotics Society of Japan (RSJ2025), 2025, 3M1-05

  7. Reinforcement Learning-Based Walking and Wall-Climbing for the Quadruped Robot KLEIYN with an Active Spine

    Keita Yoneda, Kento Kawaharazuka, Takahiro Hattori, Temma Suzuki, Kei Okada

    2025 JSME Conference on Robotics and Mechatronics (ROBOMECH2025), 2025, 2A2-A08

    Paper

  8. Design and Development of a Robot with Remote Wire Drive Mechanism and Variable-Stiffness Expansion Mechanism

    Takahiro Hattori, Kento Kawaharazuka, Temma Suzuki, Sota Yuzaki, Keita Yoneda, Kei Okada

    2025 JSME Conference on Robotics and Mechatronics (ROBOMECH2025), 2025, 1P1-E02

    Paper

  9. Control of Multiple Small Flying Anchors Using an RGB-D Camera with an Environment-Connected Wire-Driven Robot

    Shintaro Inoue, Kento Kawaharazuka, Keita Yoneda, Sota Yuzaki, Yuta Sahara, Temma Suzuki, Kei Okada

    2025 JSME Conference on Robotics and Mechatronics (ROBOMECH2025), 2025, 2A2-J03

    Paper

  10. 弾性脚を用いた六脚ロボットの設計と強化学習を用いた対面壁登り動作の実現

    米田 慶太, 河原塚 健人, 岡田 慧

    第42回日本ロボット学会学術講演会 (RSJ2024), 2024

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