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)

Development of Bidirectional Series Elastic Actuator with Torsion Coil Spring and Implementation to the Legged Robot. - Yuta Koda; Hiroshi Osawa; Norio Nagatsuka; Shinichi Kariya; Taeko Inagawa; Kensaku Ishizuka (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)

Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs. - Sotaro Katayama; Yuta Koda; Norio Nagatsuka; Masaya Kinoshita (CoRR, 2025)