Publications

  1. M. Azad & R. Featherstone 2010.  Full Text.  Slides.
    Modelling the Contact between a Rolling Sphere and a Compliant Ground Plane.  Australasian Conf. Robotics and Automation (ACRA 2010), Brisbane, Australia, 1-3 December 2010.
  2. M. Azad & R. Featherstone 2013.  Full Text.
    Angular Momentum Based Controller for Balancing an Inverted Double Pendulum.  RoManSy 19 — Robot Design, Dynamics and Control (DOI), (Proc. RoManSy 2012), Padois, Bidaud & Khatib (Eds.), Springer, Vienna, pp. 251–258.
  3. R. Featherstone 2013.  Full Text.  Slides.
    Analysis and Design of Planar Self-Balancing Double-Pendulum Robots.  RoManSy 19 — Robot Design, Dynamics and Control (DOI), (Proc. RoManSy 2012), Padois, Bidaud & Khatib (Eds.), Springer, Vienna, pp. 259–266.
  4. M. Azad & R. Featherstone 2013.  DOI.  Abstract.
    Balancing and Hopping Motion of a Planar Hopper with One Actuator.  IEEE Int. Conf. Robotics & Automation, pp. 2027–2032.
  5. M. Azad & R. Featherstone 2014.  DOI.  Abstract.
    A New Nonlinear Model of Contact Normal Force.  IEEE Trans. Robotics, vol. 30, no. 3, pp. 736–739.
  6. M. Azad 2014.  Full Text.
    Balancing and Hopping Motion Control Algorithms for an Under-actuated Robot.  Ph.D. Thesis, The Australian National University, School of Engineering, 2014.
  7. R. Featherstone 2014.  Full Text.  Slides.
    Skippy: A Versatile 3D Hopper.  Dynamic Walking 2014, Zurich, Switzerland, June 10–13, 2014.
  8. M. Azad & R. Featherstone 2014.  DOI.  Abstract.
    Balancing Control Algorithm for a 3D Under-actuated Robot.  IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Chicago, Illinois, Sept. 14–18, pp. 3233–3238, 2014.
  9. R. Featherstone 2015a.  DOI.  Abstract.  Full Text.  Slides.  Poster.
    Quantitative Measures of a Robot's Ability to Balance.  Robotics: Science and Systems, Rome, Italy, July 13–17, paper 26, 2015.
  10. R. Featherstone 2015b.  Abstract.  Full Text.  Slides.  Movie.
    A New Simple Model of Balancing in the Plane.  Int. Symp. Robotics Research, Sestri Levante, Italy, Sept. 12–15, 2015.
  11. M. Azad & R. Featherstone 2016.  DOI.  Abstract.
    Angular Momentum Based Balance Controller for an Under-actuated Planar Robot.  Autonomous Robots, vol. 40, no. 1, pp. 93–107.
  12. R. Featherstone 2016.  DOI.  Abstract.  Full Text.
    Quantitative Measures of a Robot's Physical Ability to Balance.  Int. J. Robotics Research, vol. 35, no. 14, pp. 1681–1696.
  13. R. Featherstone 2017.  DOI.  Abstract.  Full Text.
    A Simple Model of Balancing in the Plane and a Simple Preview Balance Controller.  Int. J. Robotics Research, vol. 36, no. 13–14, pp. 1489–1507.
  14. R. Featherstone, 2019.  DOI.
    The Physics and Control of Balancing on a Point in the Plane.  Biomechanics of Anthropomorphic Systems, G. Venture, J.-P. Laumond & B. Watier (editors), Springer, Berlin, pp. 211–234, 2019.
  15. A. E. Gkikakis, R. Featherstone & B. R. P. Singh, 2019.  DOI.
    Experimental Demonstration of High-Performance Robotic Balancing.  Proc. IEEE Int. Conf. Robotics and Automation, Montreal, Canada, May 20–24, pp. 9459–9465, 2019.  (One name withheld.)
  16. B. R. P. Singh & R. Featherstone, 2020.  DOI.  Full Text.
    Mechanical Shock Propagation Reduction in Robot Legs.  IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 1183–1190.
  17. J. K. Yim, B. R. P. Singh, E. K. Wang, et al., 2020.  DOI.  Full Text.
    Precision Robotic Leaping and Landing Using Stance-Phase Balance.  IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3422–3429.
  18. A. E. Gkikakis & R. Featherstone, 2020.  Link to full text.
    Introducing Skippy: an athletic monopedal robot designed for a repertoire of behaviors.  EnginSoft Newsletter, vol. 17, no. 1, pp. 18–21.  (This article also appears in the ENGINSOFT 2021 Special Issue on modeFRONTIER.)
  19. A. E. Gkikakis & R. Featherstone, 2021.  DOI.
    Realistic Mechanism and Behaviour Co-design of a One Legged Hopping Robot.  Proc. 2021 Int. Conf. Computer, Control & Robotics (ICCCR), Shanghai, China, Jan. 8–10, pp. 42–49.
  20. A. E. Gkikakis, 2021.  Full Text.  UniGe.
    Mechanism and Behaviour Co-optimisation of High Performance Mobile Robots.  PhD Thesis, Dept. Informatics, Bioengineering, Robotics and Systems Engineering (Dibris), University of Genoa, Italy.
  21. J. D. Gamba & R. Featherstone, 2021.  DOI.
    Balancing on a Springy Leg.  Proc. IEEE Int. Conf. Robotics & Automation (ICRA), Xi'an, China, May 30 – June 5, pp. 4970–4975.
  22. B. R. P. Singh, 2021.  Access Link.
    Angular Momentum Based Balancing Control and Shock-Proof Design of Legged Robots.  PhD Thesis, Dept. Information Engineering, University of Pisa, Italy.  (Available June 2024: contact the author if you need it sooner.)
  23. J. D. Gamba, A. C. Leite & R. Featherstone, 2021.  DOI.
    Robust Balancing Control of a Spring-legged Robot based on a High-order Sliding Mode Observer.  Proc. 2020 IEEE-RAS Int. Conf. Humanoid Robots, Munich, Germany, July 19–21, pp. 384–391.
  24. A. E. Gkikakis, D. Kanoulas & R. Featherstone, 2021.  DOI.
    Autonomous Real Time Architecture for High Performance Mobile Robots.  Proc. 2021 IEEE Int. Conf. Automation Science & Engineering (CASE), Lyon, France, Aug. 23–27, pp. 841–846.
  25. F. Allione, B. R. P. Singh, A. E. Gkikakis & R. Featherstone, 2021.  DOI.
    Mechanical Shock Testing of Incremental and Absolute Position Encoders.  Proc. 2021 Int. Conf. Advanced Robotics, Ljubljana, Slovenia, Dec. 6–10, pp. 52–57.
  26. R. Featherstone, 2021.  DOI.  Presentation (18MB).
    Control of Absolute Motion While Balancing in 2D.  Proc. 2021 Int. Conf. Advanced Robotics, Ljubljana, Slovenia, Dec. 6–10, pp. 121–127.
  27. J. D. Gamba Camacho, 2022.  Full Text.  UniGe.
    Hopping, Landing, and Balancing with Springs.  PhD Thesis, Dept. Informatics, Bioengineering, Robotics and Systems Engineering (Dibris), University of Genoa, Italy.
  28. F. Allione, A. E. Gkikakis & R. Featherstone, 2022.  DOI.
    Experimental Demonstration of a General Balancing Controller on an Untethered Planar Inverted Double Pendulum.  2022 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), Kyoto, Japan, Oct. 23–27, pp. 8292–8297.
  29. A. E. Gkikakis & R. Featherstone, 2022.  DOI.
    Robust Analysis for Mechanism and Behavior Co-optimization of High-performance Legged Robots.  2022 IEEE-RAS 21st Int. Conf. Humanoid Robots (Humanoids), Ginowan, Japan, Nov. 28–30, pp. 752–758.
  30. A. E. Gkikakis, F. Allione & R. Featherstone, 2023.  full text of magazine.
    Designing versatile and athletic robots with CAE.  Futurities, year 20, issue 1, Spring 2023, pp. 7–11.
  31. J. D. Gamba & R. Featherstone, 2023.  DOI.  Full Text.  Animation.
    A Springy Leg and a Double Backflip.  IEEE Robotics and Automation Letters, vol. 8, no. 8, pp. 4657–4664.
  32. F. Allione, J. D. Gamba, A. E. Gkikakis, et al., 2023.  DOI.  Full Text.
    Effects of repetitive low-acceleration impacts on attitude estimation with micro-electromechanical inertial measurement units.  Frontiers in Robotics and AI, vol. 10:1211531, pp. 1–11.
  33. F. Allione, R. Featherstone, P. M. Wensing & D. Caldwell, 2023.  DOI.  Full Text. Video.
    Balancing on a Rolling Contact.  IEEE Robotics and Automation Letters, vol. 8, no. 12, pp. 8184–8191.
  34. F. Allione, 2024.  Full Text.
    Skippy, the Balancing and Hopping Robot.  PhD Thesis, Dept. Informatics, Bioengineering, Robotics and Systems Engineering (Dibris), University of Genoa, Italy.

Talks

  1. The Physics and Control of Balancing on a Point.  2015.  (1 hour)  Abstract.  Slides.  Slides X8.  Fork Movie (6.7MB).  Lean Movie (1.5MB).
  2. Skippy: Reaching for the Performance Envelope.  2016.  (1 hour)  Abstract.  Slides.  Movie.  Presented at Workshop on Dynamic Locomotion and Manipulation, July 13–15, ETH Zürich.
  3. Balancing Made Simple.  2018.  (30 minutes)  Abstract.  Slides.  Movie (7MB).  Presented at IROS 2018 Workshop on Modeling and Control of Dynamic Legged Locomotion: Insights from Template (Simplified) Models, October 1, Madrid, Spain.
  4. News from the Skippy Project: Reaching for the Performance Envelope.  2020.  (25 minutes)  Abstract.  Movie (50MB).
  5. High Performance Balancing on a Narrow Support.  2021.  (45 minutes)  Abstract.  Movie (14MB).  Slides.  Presented (virtually) at ICRA 2021 workshop on High Dynamic Motion Generation for Under-Actuated Robots.
  6. Control of Absolute Motion While Balancing in 2D.  2021.  (10 minutes)  Presentation (18MB).  Presented (virtually) at ICAR 2021 in connection with publication #26.