Sotaro Katayama

According to our database, Sotaro Katayama authored at least 12 papers between 2017 and 2024.

Collaborative distances:

• Dijkstra number of five.
• Erdős number of five.

2024

Robust Locomotion via Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix.

Sotaro Katayama, Noriaki Takasugi, Mitsuhisa Kaneko, Norio Nagatsuka, Masaya Kinoshita

CoRR, 2024

2023

Model predictive control of legged and humanoid robots: models and algorithms.

Sotaro Katayama, Masaki Murooka, Yuichi Tazaki

Adv. Robotics, March, 2023

Versatile Telescopic-Wheeled-Legged Locomotion of Tachyon 3 via Full-Centroidal Nonlinear Model Predictive Control.

Sotaro Katayama, Noriaki Takasugi, Mitsuhisa Kaneko, Masaya Kinoshita

CoRR, 2023

2022

Quasistatic contact-rich manipulation via linear complementarity quadratic programming.

Sotaro Katayama, Tatsunori Taniai, Kazutoshi Tanaka

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Lifted contact dynamics for efficient optimal control of rigid body systems with contacts.

Sotaro Katayama, Toshiyuki Ohtsuka

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Whole-body model predictive control with rigid contacts via online switching time optimization.

Sotaro Katayama, Toshiyuki Ohtsuka

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Efficient Riccati recursion for optimal control problems with pure-state equality constraints.

Sotaro Katayama, Toshiyuki Ohtsuka

Proceedings of the American Control Conference, 2022

2021

Structure-Exploiting Newton-Type Method for Optimal Control of Switched Systems.

Sotaro Katayama, Toshiyuki Ohtsuka

CoRR, 2021

Lifted contact dynamics for efficient direct optimal control of rigid body systems with contacts.

Sotaro Katayama, Toshiyuki Ohtsuka

CoRR, 2021

Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems.

Sotaro Katayama, Toshiyuki Ohtsuka

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

2018

Nonlinear Model Predictive Control for Systems with State-Dependent Switches and State Jumps Using a Penalty Function Method.

Sotaro Katayama, Yasuyuki Satoh, Masahiro Doi, Toshiyuki Ohtsuka

Proceedings of the IEEE Conference on Control Technology and Applications, 2018

2017

Nonlinear model predictive control for systems with autonomous state jumps using a penalty function method.

Sotaro Katayama, Yasuyuki Satoh, Masahiro Doi, Toshiyuki Ohtsuka

Proceedings of the 11th Asian Control Conference, 2017