| 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 | 16 | 2020 |
| 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 | 9 | 2022 |
| 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 | 6 | 2020 |
| 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 | 6 | 2018 |
| Efficient Riccati recursion for optimal control problems with pure-state equality constraints S Katayama, T Ohtsuka 2022 American Control Conference (ACC), 3579-3586, 2022 | 4 | 2022 |
| 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 | 4 | 2021 |
| Riccati recursion for optimal control problems of nonlinear switched systems S Katayama, T Ohtsuka IFAC-PapersOnLine 54 (6), 172-178, 2021 | 4 | 2021 |
| Automatic Code Generation Tool for Nonlinear Model Predictive Control with Jupyter S Katayama, T Ohtsuka IFAC-PapersOnLine 53 (2), 7033-7040, 2020 | 4 | 2020 |
| 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 | 4 | 2017 |
| 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 | 3 | 2018 |
| Structure-exploiting Newton-type method for optimal control of switched systems S Katayama, T Ohtsuka International Journal of Control, 1, 2023 | 2 | 2023 |
| 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 | 2 | 2022 |
| 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 | 1 | 2022 |
| 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 | 1 | 2021 |
| Lifted contact dynamics for efficient direct optimal control of rigid body systems with contacts S Katayama, T Ohtsuka Retrieved from arXiv 2108, 2021 | 1 | 2021 |
| Model predictive control of legged and humanoid robots: models and algorithms S Katayama, M Murooka, Y Tazaki Advanced Robotics 37 (5), 298-315, 2023 | | 2023 |
| Fast Model Predictive Control of Robotic Systems with Rigid Contacts S Katayama https://doi.org/10.14989/doctor.k24266, 2022 | | 2022 |
| 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 |
| 状態ジャンプを含むシステムに対するペナルティ関数法を用いた非線形モデル予測制御 片山想太郎， 佐藤康之， 土井将弘， 大塚敏之 システム制御情報学会研究発表講演会講演論文集 61, 6p, 2017 | | 2017 |
| 1F2-1 S Katayama, T Ohtsuka | | |
Toshiyuki OhtsukaKyoto UniversityVerified email at i.kyoto-u.ac.jp
