Sotaro Katayama

収録論文 9本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs
  2025/4/1
• Robustifying Model-Based Locomotion by Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix
  2024/3/1
• Versatile Telescopic-Wheeled-Legged Locomotion of Tachyon 3 via Full-Centroidal Nonlinear Model Predictive Control
  2023/12/1
• Quasistatic contact-rich manipulation via linear complementarity quadratic programming
  2022/10/1
• Whole-body model predictive control with rigid contacts via online switching time optimization
  2022/3/1
• Structure-Exploiting Newton-Type Method for Optimal Control of Switched Systems
  2021/12/1
• Lifted contact dynamics for efficient optimal control of rigid body systems with contacts
  2021/8/1
• Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems
  2021/6/1
• Efficient Riccati recursion for optimal control problems with pure-state equality constraints
  2021/2/1