10 citations · 33 across the 12 of their papers we have counts for
Showing 2022Show all
2 papers · 1 filter
math.OC2022★ 1 cited
A Non-Interior-Point Continuation Method for the Optimal Control Problem with Equilibrium Constraints
Kangyu Lin, Toshiyuki Ohtsuka
In this study, we focus on the numerical solution method for the optimal control problem with equilibrium constraints (OCPEC).It is extremely challenging to solve OCPEC owing to th…
cs.RO2022
Whole-body model predictive control with rigid contacts via online switching time optimization
Sotaro Katayama, Toshiyuki Ohtsuka
This study presents a whole-body model predictive control (MPC) of robotic systems with rigid contacts, under a given contact sequence using online switching time optimization (STO…