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Sotaro Katayama
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Journal Articles
- 2023
- [j1]Sotaro Katayama, Masaki Murooka, Yuichi Tazaki:
Model predictive control of legged and humanoid robots: models and algorithms. Adv. Robotics 37(5): 298-315 (2023)
Conference and Workshop Papers
- 2022
- [c7]Sotaro Katayama, Toshiyuki Ohtsuka:
Efficient Riccati recursion for optimal control problems with pure-state equality constraints. ACC 2022: 3579-3586 - [c6]Sotaro Katayama, Tatsunori Taniai, Kazutoshi Tanaka:
Quasistatic contact-rich manipulation via linear complementarity quadratic programming. IROS 2022: 203-210 - [c5]Sotaro Katayama, Toshiyuki Ohtsuka
:
Whole-body model predictive control with rigid contacts via online switching time optimization. IROS 2022: 8858-8865 - [c4]Sotaro Katayama, Toshiyuki Ohtsuka
:
Lifted contact dynamics for efficient optimal control of rigid body systems with contacts. IROS 2022: 8879-8886 - 2021
- [c3]Sotaro Katayama, Toshiyuki Ohtsuka
:
Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems. ICRA 2021: 2070-2076 - 2018
- [c2]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: 312-317 - 2017
- [c1]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: 2125-2130
Informal and Other Publications
- 2024
- [i8]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 abs/2403.14159 (2024) - 2023
- [i7]Sotaro Katayama, Noriaki Takasugi, Mitsuhisa Kaneko, Masaya Kinoshita:
Versatile Telescopic-Wheeled-Legged Locomotion of Tachyon 3 via Full-Centroidal Nonlinear Model Predictive Control. CoRR abs/2312.08668 (2023) - 2022
- [i6]Sotaro Katayama, Toshiyuki Ohtsuka:
Whole-body model predictive control with rigid contacts via online switching time optimization. CoRR abs/2203.00997 (2022) - [i5]Sotaro Katayama, Tatsunori Taniai, Kazutoshi Tanaka:
Quasistatic contact-rich manipulation via linear complementarity quadratic programming. CoRR abs/2210.13908 (2022) - 2021
- [i4]Sotaro Katayama, Toshiyuki Ohtsuka:
Efficient Riccati recursion for optimal control problems with pure-state equality constraints. CoRR abs/2102.09731 (2021) - [i3]Sotaro Katayama, Toshiyuki Ohtsuka:
Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems. CoRR abs/2106.04176 (2021) - [i2]Sotaro Katayama, Toshiyuki Ohtsuka:
Lifted contact dynamics for efficient direct optimal control of rigid body systems with contacts. CoRR abs/2108.01781 (2021) - [i1]Sotaro Katayama, Toshiyuki Ohtsuka:
Structure-Exploiting Newton-Type Method for Optimal Control of Switched Systems. CoRR abs/2112.07232 (2021)
Coauthor Index
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