Sotaro Katayama

20 papers A* 1A 4C 1Journal 11Unranked 3
YearRankTypeTitle / Venue / Authors
2025 — conf
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs.
Humanoids
Sotaro Katayama, Yuta Koda, Norio Nagatsuka, Masaya Kinoshita
2025 J jnl
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs.
CoRR
Sotaro Katayama, Yuta Koda, Norio Nagatsuka, Masaya Kinoshita
2024 J jnl
Robust Locomotion via Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix.
CoRR
Sotaro Katayama, Noriaki Takasugi, Mitsuhisa Kaneko, Norio Nagatsuka, Masaya Kinoshita
2024 A conf
Robustifying Model-Based Locomotion by Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix.
IROS
Sotaro Katayama, Noriaki Takasugi, Mitsuhisa Kaneko, Norio Nagatsuka, Masaya Kinoshita
2024 J jnl
Structure-exploiting Newton-type method for optimal control of switched systems.
Int. J. Control
Sotaro Katayama, Toshiyuki Ohtsuka
2023 J jnl
Model predictive control of legged and humanoid robots: models and algorithms.
Adv. Robotics
Sotaro Katayama, Masaki Murooka, Yuichi Tazaki
2023 J jnl
Versatile Telescopic-Wheeled-Legged Locomotion of Tachyon 3 via Full-Centroidal Nonlinear Model Predictive Control.
CoRR
Sotaro Katayama, Noriaki Takasugi, Mitsuhisa Kaneko, Masaya Kinoshita
2022 C conf
Efficient Riccati recursion for optimal control problems with pure-state equality constraints.
ACC
Sotaro Katayama, Toshiyuki Ohtsuka
2022 A conf
Lifted contact dynamics for efficient optimal control of rigid body systems with contacts.
IROS
Sotaro Katayama, Toshiyuki Ohtsuka
2022 A conf
Quasistatic contact-rich manipulation via linear complementarity quadratic programming.
IROS
Sotaro Katayama, Tatsunori Taniai, Kazutoshi Tanaka
2022 J jnl
Quasistatic contact-rich manipulation via linear complementarity quadratic programming.
CoRR
Sotaro Katayama, Tatsunori Taniai, Kazutoshi Tanaka
2022 A conf
Whole-body model predictive control with rigid contacts via online switching time optimization.
IROS
Sotaro Katayama, Toshiyuki Ohtsuka
2022 J jnl
Whole-body model predictive control with rigid contacts via online switching time optimization.
CoRR
Sotaro Katayama, Toshiyuki Ohtsuka
2021 J jnl
Efficient Riccati recursion for optimal control problems with pure-state equality constraints.
CoRR
Sotaro Katayama, Toshiyuki Ohtsuka
2021 A* conf
Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems.
ICRA
Sotaro Katayama, Toshiyuki Ohtsuka
2021 J jnl
Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems.
CoRR
Sotaro Katayama, Toshiyuki Ohtsuka
2021 J jnl
Lifted contact dynamics for efficient direct optimal control of rigid body systems with contacts.
CoRR
Sotaro Katayama, Toshiyuki Ohtsuka
2021 J jnl
Structure-Exploiting Newton-Type Method for Optimal Control of Switched Systems.
CoRR
Sotaro Katayama, Toshiyuki Ohtsuka
2018 — conf
Nonlinear Model Predictive Control for Systems with State-Dependent Switches and State Jumps Using a Penalty Function Method.
CCTA
Sotaro Katayama, Yasuyuki Satoh, Masahiro Doi, Toshiyuki Ohtsuka
2017 — conf
Nonlinear model predictive control for systems with autonomous state jumps using a penalty function method.
ASCC
Sotaro Katayama, Yasuyuki Satoh, Masahiro Doi, Toshiyuki Ohtsuka