3 papers
cs.RO2025
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs
Sotaro Katayama, Yuta Koda, Norio Nagatsuka +1
Sim-to-real reinforcement learning (RL) for humanoid robots with high-gear ratio actuators remains challenging due to complex actuator dynamics and the absence of torque sensors. T…
cs.RO2024
Robustifying Model-Based Locomotion by Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix
Sotaro Katayama, Noriaki Takasugi, Mitsuhisa Kaneko +2
This paper presents a stochastic/robust nonlinear model predictive control (NMPC) to enhance the robustness of model-based legged locomotion against contact uncertainties. We integ…
cs.RO2023
Versatile Telescopic-Wheeled-Legged Locomotion of Tachyon 3 via Full-Centroidal Nonlinear Model Predictive Control
Sotaro Katayama, Noriaki Takasugi, Mitsuhisa Kaneko +1
This paper presents a nonlinear model predictive control (NMPC) toward versatile motion generation for the telescopic-wheeled-legged robot Tachyon 3, the unique hardware structure…