10 citations · 14 across the 7 of their papers we have counts for
7 papers
Quasistatic contact-rich manipulation via linear complementarity quadratic programming
Sotaro Katayama, Tatsunori Taniai, Kazutoshi Tanaka
Contact-rich manipulation is challenging due to dynamically-changing physical constraints by the contact mode changes undergone during manipulation. This paper proposes a versatile…
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…
Structure-Exploiting Newton-Type Method for Optimal Control of Switched Systems
Sotaro Katayama, Toshiyuki Ohtsuka
This study proposes an efficient Newton-type method for the optimal control of switched systems under a given mode sequence. A mesh-refinement-based approach is utilized to discret…
Lifted contact dynamics for efficient optimal control of rigid body systems with contacts
Sotaro Katayama, Toshiyuki Ohtsuka
We propose a novel and efficient lifting approach for the optimal control of rigid-body systems with contacts to improve the convergence properties of Newton-type methods. To relax…
Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems
Sotaro Katayama, Toshiyuki Ohtsuka
We propose an efficient way of solving optimal control problems for rigid-body systems on the basis of inverse dynamics and the multiple-shooting method. We treat all variables, in…
Efficient Riccati recursion for optimal control problems with pure-state equality constraints
Sotaro Katayama, Toshiyuki Ohtsuka
A novel approach to efficiently treat pure-state equality constraints in optimal control problems (OCPs) using a Riccati recursion algorithm is proposed. The proposed method transf…
Riccati Recursion for Optimal Control Problems of Nonlinear Switched Systems
Sotaro Katayama, Toshiyuki Ohtsuka
We propose an efficient algorithm for the optimal control problems (OCPs) of nonlinear switched systems that optimizes the control input and switching instants simultaneously for a…