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Books
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R. Featherstone, 1987.
Robot Dynamics
Algorithms.
Kluwer Academic Publishers, Boston/Dordrecht/Lancaster, 1987.
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R. Featherstone, 2008.
Rigid Body Dynamics
Algorithms.
Springer, New York, c2008.
Amazon.
A selection of my published papers
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R. Featherstone, 1983a.
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, 1983.
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R. Featherstone, 1983b.
The Calculation of Robot Dynamics using
Articulated-Body Inertias.
Int. J. Robotics
Research,
vol. 2, no. 1, pp. 13-30, 1983.
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R. Featherstone, 1983c.
Position and Velocity Transformations between
Robot End Effector Coordinates and Joint Angles.
Int. J. Robotics
Research,
vol. 2, no. 2, pp. 35-45, 1983.
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R. Featherstone & O. Khatib, 1997.
Load Independence of the Dynamically Consistent
Inverse of the Jacobian Matrix.
Int. J. Robotics
Research,
vol. 16, no. 2, pp. 168-170, 1997.
Abstract.
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R. Featherstone, 1999a.
A Divide-and-Conquer Articulated-Body Algorithm
for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 1:
Basic Algorithm.
Int. J. Robotics
Research,
vol. 18, no. 9, pp. 867-875, 1999.
Abstract.
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R. Featherstone, 1999b.
A Divide-and-Conquer Articulated-Body Algorithm
for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 2:
Trees, Loops and Accuracy.
Int. J. Robotics
Research,
vol. 18, no. 9, pp. 876-892, 1999.
Abstract.
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R. Featherstone & A. Fijany, 1999.
A Technique for Analysing Constrained Rigid-Body
Systems, and its Application to the Constraint Force Algorithm.
IEEE Trans. Robotics &
Automation,
vol. 15, no. 6, pp. 1140-1144, 1999.
Abstract.
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R. Featherstone & D. E. Orin, 2000.
Robot Dynamics: Equations and Algorithms.
IEEE Int. Conf. Robotics &
Automation,
pp. 826-834, 2000.
Abstract.
Full Text (PDF).
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R. Featherstone, 2000.
On the Limits to Invariance in the Twist/Wrench
and Motor Representations of Motion and Force Vectors.
Ball 2000,
Cambridge, UK, July 9-12, 2000.
Abstract.
Full Text via Conference
Proceedings.
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R. Featherstone, 2001.
The Acceleration Vector of a Rigid Body.
Int. J. Robotics
Research,
vol. 20, no. 11, pp. 841-846.
Abstract.
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R. Featherstone, 2003.
A Dynamic Model of Contact between a Robot and an
Environment with Unknown Dynamics.
Robotics Research: The Tenth International
Symposium,
R. A. Jarvis & A. Zelinsky (Eds.), pp. 433-446, Springer, Berlin,
2003.
Abstract.
Full Text (PDF) of preprint
version.
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R. Featherstone, 2004a.
Modeling and Control of Contact Between Constrained
Rigid Bodies.
IEEE Trans. Robotics &
Automation, vol. 20, no. 1, pp. 82-92.
Abstract.
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R. Featherstone, 2004b.
An Empirical Study of the Joint Space Inertia
Matrix.
Int. J. Robotics
Research, vol. 23, no. 9, pp. 859-871.
Abstract.
Full Text (PDF).
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R. Featherstone, 2005.
Efficient Factorization of the Joint Space Inertia
Matrix for Branched Kinematic Trees.
Int. J. Robotics
Research, vol. 24, no. 6, pp. 487-500.
Abstract.
Full Text (PDF).
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R. Featherstone, 2006.
Plücker Basis Vectors.
IEEE Int. Conf. Robotics &
Automation,
pp. 1892-1897.
Abstract.
Full Text (PDF).
Conference Slides (PDF).
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Y. H. Teh & R. Featherstone, 2008.
An Architecture for Fast and Accurate Control of
Shape Memory Alloy Actuators.
Int. J. Robotics
Research, vol. 27, no. 5, pp. 595-611.
Abstract.
Full Text (PDF).
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R. Featherstone, 2010a.
Exploiting Sparsity in Operational-Space
Dynamics.
Int. J. Robotics
Research, vol. 29, no. 10, pp. 1353-1368.
Abstract. Full Text:
DOI link.
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R. Featherstone, 2010b.
A Beginner's Guide to 6-D Vectors (Part 1).
IEEE Robotics & Automation
Magazine, vol. 17, no. 3, pp. 83-94.
Abstract. Full Text:
DOI link.
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R. Featherstone, 2010c.
A Beginner's Guide to 6-D Vectors (Part 2).
IEEE Robotics & Automation
Magazine, vol. 17, no. 4, pp. 88-99.
Abstract. Full Text:
DOI link.
Papers in the pipeline
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Pipeline empty at present.
Talks
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The Condition Number of the Joint-Space Inertia
Matrix
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High Performance Force Control for Shape
Memory Alloy (SMA) Actuators
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Branch-Induced Sparsity in Rigid-Body Dynamics
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Is Walking Just a Boring Dance? 2010.
(1 hour)
Abstract.
Slides.
Slides X4.
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Simulating Mobile Robots Using Simulink. 2011.
(1 hour)
Slides.
Slides X4.
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Achieving High Performance from SMA Actuators. 2011.
(30 min)
Abstract.
Slides.
Slides X4.
Presented at
IEEE ICRA 2011
Workshop on Biologically-Inspired Actuation.