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)

Robustifying Model-Based Locomotion by Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix. - Sotaro Katayama; Noriaki Takasugi; Mitsuhisa Kaneko; Norio Nagatsuka; Masaya Kinoshita (IROS, 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)