Roy Featherstone
Researcher

IIT Publications
- 2020
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Line Walking and Balancing for Legged Robots with Point Feet
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) -
DOI
Mechanical Shock Propagation Reduction in Robot Legs
IEEE Robotics and Automation Letters, vol. 5, (no. 2), pp. 1183-1190 -
DOI
Precision robotic leaping and landing using stance-phase balance
IEEE Robotics and Automation Letters, vol. 5, (no. 2), pp. 3422-3429 - 2019
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DOI
Experimental demonstration of high-performance robotic balancing
Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, pp. 9459-9465 -
DOI
The physics and control of balancing on a point in the plane
Springer Tracts in Advanced Robotics, vol. 124, pp. 211-234 - 2018
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DOI
An Actuator Design Criterion to Maximize Physical Balance Recovery
IEEE International Conference on Intelligent Robots and Systems, pp. 3829-3836 - 2017
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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 -
DOI
High-slope terrain locomotion for torque-controlled quadruped robots
Autonomous Robots, vol. 41, (no. 1), pp. 259-272 -
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
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DOI
Angular momentum based balance controller for an under-actuated planar robot
Autonomous Robots, vol. 40, (no. 1), pp. 93-107 -
DOI
Dynamics
Springer Handbook of Robotics, pp. 37-66, Publisher: Springer International Publishing -
DOI
Quantitative measures of a robot's physical ability to balance
International Journal of Robotics Research, vol. 35, (no. 14), pp. 1681-1696 - 2015
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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 -
DOI
Development of the lightweight hydraulic quadruped robot - MiniHyQ
IEEE Conference on Technologies for Practical Robot Applications, TePRA, vol. 2015-August -
DOI
Quantitative measures of a robot's ability to balance
Robotics: Science and Systems, vol. 11 - 2014
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DOI
A new nonlinear model of contact normal force
IEEE Transactions on Robotics, vol. 30, (no. 3), pp. 736-739 -
DOI
Balancing control algorithm for a 3D under-actuated robot
IEEE International Conference on Intelligent Robots and Systems, pp. 3233-3238 -
DOI
Distributed operational space formulation of serial manipulators
Journal of Computational and Nonlinear Dynamics, vol. 9, (no. 2) - 2013
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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 -
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 -
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 -
DOI
Balancing and hopping motion of a planar hopper with one actuator
Proceedings - IEEE International Conference on Robotics and Automation, pp. 2027-2032 - 2012
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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
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DOI
A Beginners guide to 6-D vectors (part 1)
IEEE Robotics and Automation Magazine, vol. 17, (no. 3), pp. 83-94 -
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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 -
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Exploiting sparsity in operational-space dynamics
International Journal of Robotics Research, vol. 29, (no. 10), pp. 1353-1368 -
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
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A study of soft contact models in simulink
Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009 - 2008
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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 -
DOI
Rigid Body Dynamics Algorithms
Rigid Body Dynamics Algorithms, Publisher: Springer - 2007
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DOI
Accurate force control and motion disturbance rejection for shape memory alloy actuators
Proceedings - IEEE International Conference on Robotics and Automation, pp. 4454-4459 -
DOI
Frequency response analysis of shape memory alloy actuators
Proceedings of SPIE - The International Society for Optical Engineering, vol. 6423 - 2006
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DOI
Improving the speed of shape memory alloy actuators by faster electrical heating
Springer Tracts in Advanced Robotics, vol. 21, pp. 67-76 -
DOI
Plücker basis vectors
Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 1892-1897 - 2005
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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 -
Experiments on the audio frequency response of shape memory alloy actuators
Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005 - 2004
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DOI
An empirical study of the joint space inertia matrix
International Journal of Robotics Research, vol. 23, (no. 9), pp. 859-871 -
DOI
Modeling and control of contact between constrained rigid bodies
IEEE Transactions on Robotics and Automation, vol. 20, (no. 1), pp. 82-92 - 2001
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DOI
The acceleration vector of a rigid body
International Journal of Robotics Research, vol. 20, (no. 11), pp. 841-846 - 2000
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DOI
Robot dynamics: Equations and algorithms
Proceedings-IEEE International Conference on Robotics and Automation, vol. 1, pp. 826-834 - 1999
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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 -
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 -
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 -
DOI
General contact model for dynamically-decoupled force/motion control
Proceedings - IEEE International Conference on Robotics and Automation, vol. 4, pp. 3281-3286 - 1997
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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
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Accurate trajectory transformations for redundant and nonredundant robots
Proceedings - IEEE International Conference on Robotics and Automation, (no. pt 3), pp. 1867-1872 - 1987
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DOI
Robot Dynamics Algorithms
Robot Dynamics Algorithms, Publisher: Springer - 1986
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DYNAMICS OF RIGID BODY SYSTEMS WITH MULTIPLE CONCURRENT CONTACTS.
Robotics Research: Third International Symposium. MIT Press Series in Artificial Intelligence., pp. 189-196 - 1984
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Robot Dynamics Algorithms
Robot Dynamics Algorithms, Publisher: Edinburgh University - 1983
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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 -
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Position and Velocity Transformations Between Robot End-Effector Coordinates and Joint Angles
International Journal of Robotics Research, vol. 2, (no. 2), pp. 35-45 -
ROBOT AND WORKPIECE DYNAMIC MODELLING SYSTEM.
IEE Colloquium (Digest), (no. 1983 /104) -
ROBOT CONTROL USING ON-LINE ROBOT DYNAMICS CALCULATIONS.
IEE Colloquium (Digest), (no. 1983 /77) -
DOI
The Calculation of Robot Dynamics Using Articulated-Body Inertias
International Journal of Robotics Research, vol. 2, (no. 1), pp. 13-30
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