# Roy Featherstone

According to our database

^{1}, Roy Featherstone## Awards

## IEEE Fellow

IEEE Fellow 2008, "For contributions to multibody dynamics".

## Timeline

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Book In proceedings Article PhD thesis Other## Links

#### Homepage:

#### On csauthors.net:

## Bibliography

2017

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

I. J. Robotics Res., 2017

High-slope terrain locomotion for torque-controlled quadruped robots.

Auton. Robots, 2017

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

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

2016

Dynamics.

Proceedings of the Springer Handbook of Robotics, 2016

Quantitative measures of a robot's physical ability to balance.

I. J. Robotics Res., 2016

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

Auton. Robots, 2016

2015

Development of the lightweight hydraulic quadruped robot - MiniHyQ.

Proceedings of the 2015 IEEE International Conference on Technologies for Practical Robot Applications, 2015

Quantitative Measures of a Robot's Ability to Balance.

Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

A New Simple Model of Balancing in the Plane.

Proceedings of the Robotics Research, 2015

Bio-inspired knee joint mechanism for a hydraulic quadruped robot.

Proceedings of the 6th International Conference on Automation, Robotics and Applications, 2015

2014

A New Nonlinear Model of Contact Normal Force.

IEEE Trans. Robotics, 2014

Balancing control algorithm for a 3D under-actuated robot.

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

2013

Balancing and hopping motion of a planar hopper with one actuator.

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2012

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

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

2010

A Beginner's Guide to 6-D Vectors (Part 2) [Tutorial].

IEEE Robot. Automat. Mag., 2010

A Beginner's Guide to 6-D Vectors (Part 1).

IEEE Robot. Automat. Mag., 2010

Exploiting Sparsity in Operational-space Dynamics.

I. J. Robotics Res., 2010

2008

Dynamics.

Proceedings of the Springer Handbook of Robotics, 2008

An Architecture for Fast and Accurate Control of Shape Memory Alloy Actuators.

I. J. Robotics Res., 2008

2007

Robot dynamics.

Scholarpedia, 2007

Accurate Force Control and Motion Disturbance Rejection for Shape Memory Alloy Actuators.

Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

2006

Plucker Basis Vectors.

Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

2005

Efficient Factorization of the Joint-Space Inertia Matrix for Branched Kinematic Trees.

I. J. Robotics Res., 2005

2004

Modeling and control of contact between constrained rigid bodies.

IEEE Trans. Robotics and Automation, 2004

An Empirical Study of the Joint Space Inertia Matrix.

I. J. Robotics Res., 2004

Improving the Speed of Shape Memory Alloy Actuators by Faster Electrical Heating.

Proceedings of the Experimental Robotics IX, 2004

2001

The Acceleration Vector of a Rigid Body.

I. J. Robotics Res., 2001

A Dynamic Model of Contact Between a Robot and an Environment with Unknown Dynamics.

Proceedings of the Robotics Research, The Tenth International Symposium, 2001

2000

Book Review: Advances in Robot Kinematics: Analysis and Control.

I. J. Robotics Res., 2000

Robot Dynamics: Equations and Algorithms.

Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

1999

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

IEEE Trans. Robotics and Automation, 1999

A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.

I. J. Robotics Res., 1999

A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 1: Basic Algorithm.

I. J. Robotics Res., 1999

A General Contact Model for Dynamically-Decoupled Force/Motion Control.

Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

1998

Book Review : Recent Advances in Robot Kinematics Edited by J. Lenarčič and V. Parenti-Castelli Published by Kluwer Academic Publishers Group; 1996; 468 pages; US$ 208.

I. J. Robotics Res., 1998

Automatic Generation of Sphere Hierachies from CAD Data.

Proceedings of the IEEE International Conference on Robotics and Automation, 1998

1997

Load Independence of the Dynamically Consistent Inverse of the Jacobian Matrix.

I. J. Robotics Res., 1997

A General Contact Model for Dynamically-Decoupled Force/Motion.

Proceedings of the Experimental Robotics V, 1997

1994

Accurate Trajectory Transformations for Redundant and Nonredundant Robots.

Proceedings of the 1994 International Conference on Robotics and Automation, 1994