12 papers
Robust Brachiation on a Life-Sized Dual-Arm Robot Using Waypoint-Guided Reinforcement Learning
Ayumu Iwata, Kento Kawaharazuka, Keita Yoneda +2
Brachiation is a form of locomotion in which primates move primarily using their arms, enabling traversal in environments without footholds. However, this motion requires highly co…
WARL: Wrench-Augmented Reinforcement Learning for Task-Agnostic Learning in Legged Robots
Keita Yoneda, Kento Kawaharazuka, Kei Okada
While reinforcement learning for legged robots has achieved high motor performance, it has been constrained by the limited exploration capability of actions confined to the joint s…
MEVION: Low-Cost Open-Source Data Collection System for Powerful and High-Speed Dual-Arm Manipulation
Kento Kawaharazuka, Yoshiki Obinata, Hirokazu Ishida +6
The global competition for developing robotic foundation models is intensifying. Among the data collection systems used for dual-arm robots, ALOHA is representative of being low-co…
EFGCL: Learning Dynamic Motion through Spotting-Inspired External Force Guided Curriculum Learning
Keita Yoneda, Kento Kawaharazuka, Kei Okada
Learning dynamic whole-body motions for legged robots through reinforcement learning (RL) remains challenging due to the high risk of failure, which makes efficient exploration dif…
MEVIUS2: Practical Open-Source Quadruped Robot with Sheet Metal Welding and Multimodal Perception
Kento Kawaharazuka, Keita Yoneda, Shintaro Inoue +3
Various quadruped robots have been developed to date, and thanks to reinforcement learning, they are now capable of traversing diverse types of rough terrain. In parallel, there is…
Analysis of Various Manipulator Configurations Based on Multi-Objective Black-Box Optimization
Kento Kawaharazuka, Keita Yoneda, Takahiro Hattori +2
Various 6-degree-of-freedom (DOF) and 7-DOF manipulators have been developed to date. Over a long history, their joint configurations and link length ratios have been determined em…