Nonlinear model predictive control for systems with autonomous state jumps using a penalty function method. - Sotaro Katayama; Yasuyuki Satoh; Masahiro Doi; Toshiyuki Ohtsuka (ASCC, 2017)

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 (CCTA, 2018)

Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems. - Sotaro Katayama; Toshiyuki Ohtsuka (ICRA, 2021)

Lifted contact dynamics for efficient direct optimal control of rigid body systems with contacts. - Sotaro Katayama; Toshiyuki Ohtsuka (CoRR, 2021)

Efficient Riccati recursion for optimal control problems with pure-state equality constraints. - Sotaro Katayama; Toshiyuki Ohtsuka (ACC, 2022)

Whole-body model predictive control with rigid contacts via online switching time optimization. - Sotaro Katayama; Toshiyuki Ohtsuka (IROS, 2022)

Lifted contact dynamics for efficient optimal control of rigid body systems with contacts. - Sotaro Katayama; Toshiyuki Ohtsuka (IROS, 2022)

Quasistatic contact-rich manipulation via linear complementarity quadratic programming. - Sotaro Katayama; Tatsunori Taniai; Kazutoshi Tanaka (IROS, 2022)

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)

Model predictive control of legged and humanoid robots: models and algorithms. - Sotaro Katayama; Masaki Murooka; Yuichi Tazaki (Adv. Robotics, 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)

Structure-exploiting Newton-type method for optimal control of switched systems. - Sotaro Katayama; Toshiyuki Ohtsuka (Int. J. Control, 2024)

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