Roy Featherstone

IIT Publications

• 2019
• Driessen J.J.M.^iit, Gkikakis A.E.^iit, Featherstone R.^iit, Singh B.R.P.^iit
  DOI

  Experimental demonstration of high-performance robotic balancing

  Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, pp. 9459-9465
• Featherstone R.^iit
  DOI

  The physics and control of balancing on a point in the plane

  Springer Tracts in Advanced Robotics, vol. 124, pp. 211-234
• 2018
• Driessen J.J.M.^iit, Featherstone R.^iit, Gkikakis A.E.^iit
  DOI

  An Actuator Design Criterion to Maximize Physical Balance Recovery

  IEEE International Conference on Intelligent Robots and Systems, pp. 3829-3836
• 2017
• Featherstone R.^iit
  DOI

  A simple model of balancing in the plane and a simple preview balance controller

  International Journal of Robotics Research, vol. 36, (no. 13-14), pp. 1489-1507
• Focchi M.^iit, del Prete A., Havoutis I., Featherstone R.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  High-slope terrain locomotion for torque-controlled quadruped robots

  Autonomous Robots, vol. 41, (no. 1), pp. 259-272
• Focchi M.^iit, Featherstone R.^iit, Orsolino R.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  Viscosity-based height reflex for workspace augmentation for quadrupedal locomotion on rough terrain

  IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, pp. 5353-5360
• 2016
• Azad M., Featherstone R.^iit
  DOI

  Angular momentum based balance controller for an under-actuated planar robot

  Autonomous Robots, vol. 40, (no. 1), pp. 93-107
• Featherstone R., Orin D.E.
  DOI

  Dynamics

  Springer Handbook of Robotics, pp. 37-66, Publisher: Springer International Publishing
• Featherstone R.^iit
  DOI

  Quantitative measures of a robot's physical ability to balance

  International Journal of Robotics Research, vol. 35, (no. 14), pp. 1681-1696
• 2015
• Khan H.^iit, Featherstone R.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  Bio-inspired knee joint mechanism for a hydraulic quadruped robot

  ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications, pp. 325-331
• Khan H.^iit, Kitano S., Frigerio M.^iit, Camurri M.^iit, Barasuol V.^iit, Featherstone R.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  Development of the lightweight hydraulic quadruped robot - MiniHyQ

  IEEE Conference on Technologies for Practical Robot Applications, TePRA, vol. 2015-August
• Featherstone R.^iit
  DOI

  Quantitative measures of a robot's ability to balance

  Robotics: Science and Systems, vol. 11
• 2014
• Azad M., Featherstone R.^iit
  DOI

  A new nonlinear model of contact normal force

  IEEE Transactions on Robotics, vol. 30, (no. 3), pp. 736-739
• Azad M., Featherstone R.^iit
  DOI

  Balancing control algorithm for a 3D under-actuated robot

  IEEE International Conference on Intelligent Robots and Systems, pp. 3233-3238
• Bhalerao K.D., Critchley J., Oetomo D., Featherstone R.^iit, Khatib O.
  DOI

  Distributed operational space formulation of serial manipulators

  Journal of Computational and Nonlinear Dynamics, vol. 9, (no. 2)
• 2013
• Featherstone R.
  DOI

  Analysis and Design of Planar Self-Balancing Double- Pendulum Robots

  CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 544, pp. 259-266
• Fijany A.^iit, Featherstone R.
  DOI

  A new factorization of the mass matrix for optimal serial and parallel calculation of multibody dynamics

  Multibody System Dynamics, vol. 29, (no. 2), pp. 169-187
• Azad M., Featherstone R.
  DOI

  Angular Momentum Based Controller for Balancing an Inverted Double Pendulum

  CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 544, pp. 251-258
• Azad M., Featherstone R.^iit
  DOI

  Balancing and hopping motion of a planar hopper with one actuator

  Proceedings - IEEE International Conference on Robotics and Automation, pp. 2027-2032
• 2012
• Wensing P., Featherstone R., Orin D.E.
  DOI

  A reduced-order recursive algorithm for the computation of the operational-space inertia matrix

  Proceedings - IEEE International Conference on Robotics and Automation, pp. 4911-4917
• 2010
• Featherstone R.
  DOI

  A Beginners guide to 6-D vectors (part 1)

  IEEE Robotics and Automation Magazine, vol. 17, (no. 3), pp. 83-94
• Featherstone R.
  DOI

  A beginner's guide to 6-D vectors (part 2): From equations to software

  IEEE Robotics and Automation Magazine, vol. 17, (no. 4), pp. 88-99
• Featherstone R.
  DOI

  Exploiting sparsity in operational-space dynamics

  International Journal of Robotics Research, vol. 29, (no. 10), pp. 1353-1368
• Azad M., Featherstone R.

  Modeling the contact between a rolling sphere and a compliant ground plane

  Proceedings of the 2010 Australasian Conference on Robotics and Automation, ACRA 2010
• 2009
• Bibalan P.T., Featherstone R.

  A study of soft contact models in simulink

  Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009
• 2008
• Teh Y.H., Featherstone R.
  DOI

  An architecture for fast and accurate control of shape memory alloy actuators

  International Journal of Robotics Research, vol. 27, (no. 5), pp. 595-611
• Featherstone R.
  DOI

  Rigid Body Dynamics Algorithms

  Rigid Body Dynamics Algorithms, Publisher: Springer
• 2007
• Teh Y.H., Featherstone R.
  DOI

  Accurate force control and motion disturbance rejection for shape memory alloy actuators

  Proceedings - IEEE International Conference on Robotics and Automation, pp. 4454-4459
• Teh Y.H., Featherstone R.
  DOI

  Frequency response analysis of shape memory alloy actuators

  Proceedings of SPIE - The International Society for Optical Engineering, vol. 6423
• 2006
• Featherstone R., Teh Y.H.
  DOI

  Improving the speed of shape memory alloy actuators by faster electrical heating

  Springer Tracts in Advanced Robotics, vol. 21, pp. 67-76
• Featherstone R.
  DOI

  Plücker basis vectors

  Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 1892-1897
• 2005
• Featherstone R.
  DOI

  Efficient factorization of the joint-space inertia matrix for branched kinematic trees

  International Journal of Robotics Research, vol. 24, (no. 6), pp. 487-500
• Teh Y.H., Featherstone R.

  Experiments on the audio frequency response of shape memory alloy actuators

  Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005
• 2004
• Featherstone R.
  DOI

  An empirical study of the joint space inertia matrix

  International Journal of Robotics Research, vol. 23, (no. 9), pp. 859-871
• Featherstone R.
  DOI

  Modeling and control of contact between constrained rigid bodies

  IEEE Transactions on Robotics and Automation, vol. 20, (no. 1), pp. 82-92
• 2001
• Featherstone R.
  DOI

  The acceleration vector of a rigid body

  International Journal of Robotics Research, vol. 20, (no. 11), pp. 841-846
• 2000
• Featherstone R., Orin D.
  DOI

  Robot dynamics: Equations and algorithms

  Proceedings-IEEE International Conference on Robotics and Automation, vol. 1, pp. 826-834
• 1999
• Featherstone R., Fijany A.
  DOI

  A technique for analyzing constrained rigid-body systems, and its application to the constraint force algorithm

  IEEE Transactions on Robotics and Automation, vol. 15, (no. 6), pp. 1140-1144
• Featherstone R.
  DOI

  Divide-and-conquer articulated-body algorithm for parallel O(log(n)) calculation of rigid-body dynamics. Part 1: Basic algorithm

  International Journal of Robotics Research, vol. 18, (no. 9), pp. 867-875
• Featherstone R.
  DOI

  Divide-and-conquer articulated-body algorithm for parallel O(log(n)) calculation of rigid-body dynamics. Part 2: Trees, loops, and accuracy

  International Journal of Robotics Research, vol. 18, (no. 9), pp. 876-892
• Featherstone R., Thiebaut S. S., Khatib O.
  DOI

  General contact model for dynamically-decoupled force/motion control

  Proceedings - IEEE International Conference on Robotics and Automation, vol. 4, pp. 3281-3286
• 1997
• Featherstone R., Khatib O.
  DOI

  Load independence of the dynamically consistent inverse of the Jacobian matrix

  International Journal of Robotics Research, vol. 16, (no. 2), pp. 168-170
• 1994
• Featherstone R.

  Accurate trajectory transformations for redundant and nonredundant robots

  Proceedings - IEEE International Conference on Robotics and Automation, (no. pt 3), pp. 1867-1872
• 1987
• Featherstone R.
  DOI

  Robot Dynamics Algorithms

  Robot Dynamics Algorithms, Publisher: Springer
• 1986
• Featherstone R.

  DYNAMICS OF RIGID BODY SYSTEMS WITH MULTIPLE CONCURRENT CONTACTS.

  Robotics Research: Third International Symposium. MIT Press Series in Artificial Intelligence., pp. 189-196
• 1984
• Featherstone R.

  Robot Dynamics Algorithms

  Robot Dynamics Algorithms, Publisher: Edinburgh University
• 1983
• Featherstone R.
  DOI

  Calculation of robot joint rates and actuator torques from end effector velocities and applied forces

  Mechanism and Machine Theory, vol. 18, (no. 3), pp. 193-198
• Featherstone R.
  DOI

  Position and Velocity Transformations Between Robot End-Effector Coordinates and Joint Angles

  International Journal of Robotics Research, vol. 2, (no. 2), pp. 35-45
• Featherstone R.

  ROBOT AND WORKPIECE DYNAMIC MODELLING SYSTEM.

  IEE Colloquium (Digest), (no. 1983 /104)
• Featherstone R.

  ROBOT CONTROL USING ON-LINE ROBOT DYNAMICS CALCULATIONS.

  IEE Colloquium (Digest), (no. 1983 /77)
• Featherstone R.
  DOI

  The Calculation of Robot Dynamics Using Articulated-Body Inertias

  International Journal of Robotics Research, vol. 2, (no. 1), pp. 13-30