Sotaro Katayama
Papers
7
Total Citations
127
H-Index
4
About
Sotaro Katayama is a leading researcher at the forefront of model predictive control (MPC) for complex robotic systems, with a particular focus on legged and humanoid robots. His work addresses the fundamental challenge of enabling robots to perform dynamic, whole-body motions while maintaining stability through rigid contacts. Katayama’s major contributions include the development of novel MPC frameworks that treat robot dynamics as switched systems, allowing for real-time optimization of contact sequences and state jumps. His 2023 paper on MPC for legged and humanoid robots has already garnered 76 citations, reflecting its impact as a comprehensive resource in the field. He has pioneered techniques such as the moving switching sequence approach and the use of penalty function methods to handle state-dependent switches and jumps, enabling efficient nonlinear MPC implementation. Katayama’s work on the Tachyon 3 robot demonstrates the practical application of his full-centroidal nonlinear MPC for versatile telescopic-wheeled-legged locomotion. By combining rigorous theoretical foundations with real-time algorithmic efficiency, he is shaping the next generation of agile, contact-aware robotic control systems.
Research Focus
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