Roy Featherstone

Researcher

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