| 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 | 19 | 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 | 12 | 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 | 8 | 2020 |
| Model predictive control of legged and humanoid robots: models and algorithms S Katayama, M Murooka, Y Tazaki Advanced Robotics 37 (5), 298-315, 2023 | 6 | 2023 |
| Automatic code generation tool for nonlinear model predictive control with jupyter S Katayama, T Ohtsuka IFAC-PapersOnLine 53 (2), 7033-7040, 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 |
| 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 |
| Structure-exploiting Newton-type method for optimal control of switched systems S Katayama, T Ohtsuka International Journal of Control, 1-17, 2023 | 3 | 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 | 3 | 2022 |
| 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 |
| Versatile Telescopic-Wheeled-Legged Locomotion of Tachyon 3 via Full-Centroidal Nonlinear Model Predictive Control S Katayama, N Takasugi, M Kaneko, M Kinoshita arXiv preprint arXiv:2312.08668, 2023 | 1 | 2023 |
| 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 arXiv preprint arXiv:2108.01781, 2021 | 1 | 2021 |
| Robust Locomotion via Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix S Katayama, N Takasugi, M Kaneko, N Nagatsuka arXiv preprint arXiv:2403.14159, 2024 | | 2024 |
| 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 |
Toshiyuki OhtsukaKyoto UniversityVerified email at i.kyoto-u.ac.jp
