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Sotaro Katayama
Sotaro Katayama
Sony Group Corporation
Verified email at sony.com
Title
Cited by
Cited by
Year
A moving switching sequence approach for nonlinear model predictive control of switched systems with state‐dependent switches and state jumps
S Katayama, M Doi, T Ohtsuka
International Journal of Robust and Nonlinear Control 30 (2), 719-740, 2020
192020
Whole-body model predictive control with rigid contacts via online switching time optimization
S Katayama, T Ohtsuka
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022
142022
Model predictive control of legged and humanoid robots: models and algorithms
S Katayama, M Murooka, Y Tazaki
Advanced Robotics 37 (5), 298-315, 2023
112023
Efficient solution method based on inverse dynamics of optimal control problems for fixed-based rigid-body systems
S Katayama, T Ohtsuka
IFAC-PapersOnLine 53 (2), 6483-6489, 2020
82020
Nonlinear model predictive control for systems with state-dependent switches and state jumps using a penalty function method
S Katayama, Y Satoh, M Doi, T Ohtsuka
2018 IEEE Conference on Control Technology and Applications (CCTA), 312-317, 2018
72018
Automatic code generation tool for nonlinear model predictive control with jupyter
S Katayama, T Ohtsuka
IFAC-PapersOnLine 53 (2), 7033-7040, 2020
62020
Structure-exploiting Newton-type method for optimal control of switched systems
S Katayama, T Ohtsuka
International Journal of Control, 1-17, 2023
42023
Efficient Riccati recursion for optimal control problems with pure-state equality constraints
S Katayama, T Ohtsuka
2022 American Control Conference (ACC), 3579-3586, 2022
42022
Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems
S Katayama, T Ohtsuka
2021 IEEE International Conference on Robotics and Automation (ICRA), 2070-2076, 2021
42021
Riccati recursion for optimal control problems of nonlinear switched systems
S Katayama, T Ohtsuka
IFAC-PapersOnLine 54 (6), 172-178, 2021
42021
Nonlinear model predictive control for systems with autonomous state jumps using a penalty function method
S Katayama, Y Satoh, M Doi, T Ohtsuka
2017 11th Asian Control Conference (ASCC), 2125-2130, 2017
42017
Lifted contact dynamics for efficient optimal control of rigid body systems with contacts
S Katayama, T Ohtsuka
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022
32022
Scenario-Based Nonlinear Model Predictive Control for Switched Systems with Externally Forced Switchings
S Katayama, T Ohtsuka
2018 57th Annual Conference of the Society of Instrument and Control …, 2018
32018
Versatile telescopic-wheeled-legged locomotion of Tachyon 3 via full-centroidal nonlinear model predictive control
S Katayama, N Takasugi, M Kaneko, M Kinoshita
arXiv preprint arXiv:2312.08668, 2023
22023
Quasistatic contact-rich manipulation via linear complementarity quadratic programming
S Katayarna, T Taniai, K Tanaka
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022
22022
Robust Locomotion via Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix
S Katayama, N Takasugi, M Kaneko, N Nagatsuka
arXiv preprint arXiv:2403.14159, 2024
12024
Fast Model Predictive Control of Robotic Systems with Rigid Contacts
S Katayama
https://doi.org/10.14989/doctor.k24266, 2022
12022
スイッチドシステムの数値最適制御と歩行ロボットへの応用
片山想太郎, 大塚敏之
自動制御連合講演会講演論文集 第 64 回自動制御連合講演会, 329-336, 2021
12021
Lifted contact dynamics for efficient direct optimal control of rigid body systems with contacts
S Katayama, T Ohtsuka
arXiv preprint arXiv:2108.01781, 2021
12021
Inverse dynamics‐based formulation of finite horizon optimal control problems for rigid‐body systems
S Katayama, T Ohtsuka
Optimal Control Applications and Methods, 2021
2021
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