Publications

  1. M. Azad & R. Featherstone 2010.  Full TextSlides.
    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 TextSlides.
    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.  DOIAbstract.
    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.  DOIAbstract.
    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 TextSlides.
    Skippy: A Versatile 3D Hopper.  Dynamic Walking 2014, Zurich, Switzerland, June 10–13, 2014.
  8. M. Azad & R. Featherstone 2014.  DOIAbstract.
    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.  DOIAbstractFull TextSlidesPoster.
    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.  AbstractFull TextSlidesMovie.
    A New Simple Model of Balancing in the Plane.  Int. Symp. Robotics Research, Sestri Levante, Italy, Sept. 12–15, 2015.
  11. J. J. M. Driessen 2015.  Full Text.
    Machine and Behaviour Co-design of a Powerful Minimally Actuated Hopping Robot.  M.Sc. Thesis, Dept. BioMechanical Engineering, Delft University of Technology, 2015.  (Also available from TUDelft repository.)
  12. M. Azad & R. Featherstone 2016.  DOIAbstract.
    Angular Momentum Based Balance Controller for an Under-actuated Planar Robot.  Autonomous Robots, vol. 40, no. 1, pp. 93–107.
  13. R. Featherstone 2016.  DOIAbstractFull Text.
    Quantitative Measures of a Robot's Physical Ability to Balance.  Int. J. Robotics Research, vol. 35, no. 14, pp. 1681–1696.
  14. R. Featherstone 2017.  DOIAbstractFull 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.
  15. J. J. M. Driessen, R. Featherstone & A. E. Gkikakis, 2018.  DOI.
    An Actuator Design Criterion to Maximize Physical Balance Recovery.  IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Madrid, Spain, Oct. 1–5, pp. 2829–2836, 2018.
  16. 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.
  17. J. J. M. Driessen, R. Featherstone, A. E. Gkikakis & B. R. P. Singh, 2019.  (no DOI yet)
    Experimental Demonstration of High-Performance Robotic Balancing.  to be presented at IEEE Int. Conf. Robotics and Automation, Montreal, Canada, May 20–24, pp. ??–??, 2019.  Note: Driessen stole 1st-author position from Gkikakis.

Talks

  1. The Physics and Control of Balancing on a Point.  2015.  (1 hour)  AbstractSlidesSlides X8Fork Movie (6.7MB).  Lean Movie (1.5MB).
  2. Skippy: Reaching for the Performance Envelope.  2016.  (1 hour)  AbstractSlidesMovie.  Presented at Workshop on Dynamic Locomotion and Manipulation, July 13–15, ETH Zürich.
  3. Balancing Made Simple.  2018.  (30 minutes)  AbstractSlidesMovie (7MB).  Presented at IROS 2018 Workshop on Modeling and Control of Dynamic Legged Locomotion: Insights from Template (Simplified) Models, October 1, Madrid, Spain.