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, 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.  To appear in Int. J. Robotics Research.

Talks

  1. The Physics and Control of Balancing on a Point.  2015.  (1 hour)  AbstractSlidesSlides X8Movie (6.7MB).
  2. Skippy: Reaching for the Performance Envelope.  2016.  (1 hour)  AbstractSlidesMovie.  Presented at Workshop on Dynamic Locomotion and Manipulation, July 13–15, ETH Zürich.