Accurate Trajectory Transformations for Redundant and Nonredundant Robots. - Roy Featherstone (ICRA, 1994)

A General Contact Model for Dynamically-Decoupled Force/Motion. - Roy Featherstone; Stef Sonck; Oussama Khatib (ISER, 1997)

Load Independence of the Dynamically Consistent Inverse of the Jacobian Matrix. - Roy Featherstone; Oussama Khatib (Int. J. Robotics Res., 1997)

Automatic Generation of Sphere Hierachies from CAD Data. - Joe Pitt-Francis; Roy Featherstone (ICRA, 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. - Roy Featherstone (Int. J. Robotics Res., 1998)

A General Contact Model for Dynamically-Decoupled Force/Motion Control. - Roy Featherstone; Stef Sonck Thiebaut; Oussama Khatib (ICRA, 1999)

A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 1: Basic Algorithm. - Roy Featherstone (Int. J. Robotics Res., 1999)

A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy. - Roy Featherstone (Int. J. Robotics Res., 1999)

A technique for analyzing constrained rigid-body systems, and its application to the constraint force algorithm. - Roy Featherstone; Amir Fijany (IEEE Trans. Robotics Autom., 1999)

Robot Dynamics: Equations and Algorithms. - Roy Featherstone; David E. Orin (ICRA, 2000)

Book Review: Advances in Robot Kinematics: Analysis and Control. - Roy Featherstone (Int. J. Robotics Res., 2000)

A Dynamic Model of Contact Between a Robot and an Environment with Unknown Dynamics. - Roy Featherstone (ISRR, 2001)

The Acceleration Vector of a Rigid Body. - Roy Featherstone (Int. J. Robotics Res., 2001)

Improving the Speed of Shape Memory Alloy Actuators by Faster Electrical Heating. - Roy Featherstone; Yee Harn Teh (ISER, 2004)

An Empirical Study of the Joint Space Inertia Matrix. - Roy Featherstone (Int. J. Robotics Res., 2004)

Modeling and control of contact between constrained rigid bodies. - Roy Featherstone (IEEE Trans. Robotics Autom., 2004)

Efficient Factorization of the Joint-Space Inertia Matrix for Branched Kinematic Trees. - Roy Featherstone (Int. J. Robotics Res., 2005)

Plucker Basis Vectors. - Roy Featherstone (ICRA, 2006)

Accurate Force Control and Motion Disturbance Rejection for Shape Memory Alloy Actuators. - Yee Harn Teh; Roy Featherstone (ICRA, 2007)

Robot dynamics. - Roy Featherstone (Scholarpedia, 2007)

An Architecture for Fast and Accurate Control of Shape Memory Alloy Actuators. - Yee Harn Teh; Roy Featherstone (Int. J. Robotics Res., 2008)

Dynamics. - Roy Featherstone; David E. Orin (Springer Handbook of Robotics, 2008)

Exploiting Sparsity in Operational-space Dynamics. - Roy Featherstone (Int. J. Robotics Res., 2010)

A Beginner's Guide to 6-D Vectors (Part 1). - Roy Featherstone (IEEE Robotics Autom. Mag., 2010)

A Beginner's Guide to 6-D Vectors (Part 2) [Tutorial]. - Roy Featherstone (IEEE Robotics Autom. Mag., 2010)

A reduced-order recursive algorithm for the computation of the operational-space inertia matrix. - Patrick M. Wensing; Roy Featherstone; David E. Orin (ICRA, 2012)

Balancing and hopping motion of a planar hopper with one actuator. - Morteza Azad; Roy Featherstone (ICRA, 2013)

Balancing control algorithm for a 3D under-actuated robot. - Morteza Azad; Roy Featherstone (IROS, 2014)

A New Nonlinear Model of Contact Normal Force. - Morteza Azad; Roy Featherstone (IEEE Trans. Robotics, 2014)

Bio-inspired knee joint mechanism for a hydraulic quadruped robot. - Hamza Khan 004; Roy Featherstone; Darwin G. Caldwell; Claudio Semini (ICARA, 2015)

A New Simple Model of Balancing in the Plane. - Roy Featherstone (ISRR (2), 2015)

Quantitative Measures of a Robot's Ability to Balance. - Roy Featherstone (Robotics: Science and Systems, 2015)

Development of the lightweight hydraulic quadruped robot - MiniHyQ. - Hamza Khan 004; Satoshi Kitano; Marco Frigerio; Marco Camurri; Victor Barasuol; Roy Featherstone; Darwin G. Caldwell; Claudio Semini (TePRA, 2015)

The Physics and Control of Balancing on a Point in the Plane. - Roy Featherstone (Biomechanics of Anthropomorphic Systems, 2016)

Angular momentum based balance controller for an under-actuated planar robot. - Morteza Azad; Roy Featherstone (Auton. Robots, 2016)

Quantitative measures of a robot's physical ability to balance. - Roy Featherstone (Int. J. Robotics Res., 2016)

Dynamics. - Roy Featherstone; David E. Orin (Springer Handbook of Robotics, 2nd Ed., 2016)

Viscosity-based height reflex for workspace augmentation for quadrupedal locomotion on rough terrain. - Michele Focchi; Roy Featherstone; Romeo Orsolino; Darwin G. Caldwell; Claudio Semini (IROS, 2017)

High-slope terrain locomotion for torque-controlled quadruped robots. - Michele Focchi; Andrea Del Prete; Ioannis Havoutis; Roy Featherstone; Darwin G. Caldwell; Claudio Semini (Auton. Robots, 2017)

A simple model of balancing in the plane and a simple preview balance controller. - Roy Featherstone (Int. J. Robotics Res., 2017)

An Actuator Design Criterion to Maximize Physical Balance Recovery. - Josephus J. M. Driessen; Roy Featherstone; Antonios-Emmanouil Gkikakis (IROS, 2018)

Experimental Demonstration of High-Performance Robotic Balancing. - Josephus J. M. Driessen; Antonios-Emmanouil Gkikakis; Roy Featherstone; Bajwa Roodra Pratap Singh (ICRA, 2019)

Line Walking and Balancing for Legged Robots with Point Feet. - Carlos Gonzalez; Victor Barasuol; Marco Frigerio; Roy Featherstone; Darwin G. Caldwell; Claudio Semini (IROS, 2020)

Mechanical Shock Propagation Reduction in Robot Legs. - Bajwa Roodra Pratap Singh; Roy Featherstone (IEEE Robotics Autom. Lett., 2020)

Precision Robotic Leaping and Landing Using Stance-Phase Balance. - Justin K. Yim; Bajwa Roodra Pratap Singh; Eric K. Wang; Roy Featherstone; Ronald S. Fearing (IEEE Robotics Autom. Lett., 2020)

Autonomous Real Time Architecture for High Performance Mobile Robots. - Antonios-Emmanouil Gkikakis; Dimitrios Kanoulas; Roy Featherstone (CASE, 2021)

Robust Balancing Control of a Spring-legged Robot based on a High-order Sliding Mode Observer. - Juan D. Gamba; Antonio C. Leite; Roy Featherstone (HUMANOIDS, 2021)

Mechanical Shock Testing of Incremental and Absolute Position Encoders. - Federico Allione; Bajwa Roodra Pratap Singh; Antonios-Emmanouil Gkikakis; Roy Featherstone (ICAR, 2021)

Control of Absolute Motion While Balancing in 2D. - Roy Featherstone (ICAR, 2021)

Balancing on a Springy Leg. - Juan D. Gamba; Roy Featherstone (ICRA, 2021)

Robust Analysis for Mechanism and Behavior Co-optimization of High-performance Legged Robots. - Antonios-Emmanouil Gkikakis; Roy Featherstone (Humanoids, 2022)

Experimental Demonstration of a General Balancing Controller on an Untethered Planar Inverted Double Pendulum. - Federico Allione; Antonios-Emmanouil Gkikakis; Roy Featherstone (IROS, 2022)

A Springy Leg and a Double Backflip. - Juan D. Gamba; Roy Featherstone (IEEE Robotics Autom. Lett., 2023)

Effects of repetitive low-acceleration impacts on attitude estimation with micro-electromechanical inertial measurement units. - Federico Allione; Juan D. Gamba; Antonios-Emmanouil Gkikakis; Roy Featherstone; Darwin G. Caldwell (Frontiers Robotics AI, 2023)

Balancing on a Rolling Contact. - Federico Allione; Roy Featherstone; Patrick M. Wensing; Darwin G. Caldwell (IEEE Robotics Autom. Lett., 2023)