Sotaro Katayama

Publication Activity (10 Years)

Years Active: 2017-2024
Publications (10 Years): 16

Top Topics

Quadratic Programming

Optimal Control

Top Venues

Publications

Sotaro Katayama, Noriaki Takasugi, Mitsuhisa Kaneko, Norio Nagatsuka, Masaya Kinoshita
Robust Locomotion via Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix. CoRR (2024)
Sotaro Katayama, Masaki Murooka, Yuichi Tazaki
Model predictive control of legged and humanoid robots: models and algorithms. Adv. Robotics 37 (5) (2023)
Sotaro Katayama, Noriaki Takasugi, Mitsuhisa Kaneko, Masaya Kinoshita
Versatile Telescopic-Wheeled-Legged Locomotion of Tachyon 3 via Full-Centroidal Nonlinear Model Predictive Control. CoRR (2023)
Sotaro Katayama, Toshiyuki Ohtsuka
Whole-body model predictive control with rigid contacts via online switching time optimization. IROS (2022)
Sotaro Katayama, Tatsunori Taniai, Kazutoshi Tanaka
Quasistatic contact-rich manipulation via linear complementarity quadratic programming. CoRR (2022)
Sotaro Katayama, Toshiyuki Ohtsuka
Efficient Riccati recursion for optimal control problems with pure-state equality constraints. ACC (2022)
Sotaro Katayama, Tatsunori Taniai, Kazutoshi Tanaka
Quasistatic contact-rich manipulation via linear complementarity quadratic programming. IROS (2022)
Sotaro Katayama, Toshiyuki Ohtsuka
Lifted contact dynamics for efficient optimal control of rigid body systems with contacts. IROS (2022)
Sotaro Katayama, Toshiyuki Ohtsuka
Whole-body model predictive control with rigid contacts via online switching time optimization. CoRR (2022)
Sotaro Katayama, Toshiyuki Ohtsuka
Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems. ICRA (2021)
Sotaro Katayama, Toshiyuki Ohtsuka
Efficient Riccati recursion for optimal control problems with pure-state equality constraints. CoRR (2021)
Sotaro Katayama, Toshiyuki Ohtsuka
Structure-Exploiting Newton-Type Method for Optimal Control of Switched Systems. CoRR (2021)
Sotaro Katayama, Toshiyuki Ohtsuka
Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems. CoRR (2021)
Sotaro Katayama, Toshiyuki Ohtsuka
Lifted contact dynamics for efficient direct optimal control of rigid body systems with contacts. CoRR (2021)
Sotaro Katayama, Yasuyuki Satoh, Masahiro Doi, Toshiyuki Ohtsuka
Nonlinear Model Predictive Control for Systems with State-Dependent Switches and State Jumps Using a Penalty Function Method. CCTA (2018)
Sotaro Katayama, Yasuyuki Satoh, Masahiro Doi, Toshiyuki Ohtsuka
Nonlinear model predictive control for systems with autonomous state jumps using a penalty function method. ASCC (2017)