Publications
-
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.
-
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.
-
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.
-
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.
-
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.
-
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.
-
R. Featherstone 2014.
Full Text.
Slides.
Skippy: A Versatile 3D Hopper.
Dynamic Walking 2014,
Zurich, Switzerland, June 10–13, 2014.
-
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.
-
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.
-
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.
-
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.
-
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.
-
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.
-
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.
-
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.)
-
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.
-
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.
-
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.)
-
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.
-
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.
-
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.
-
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.)
-
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.
-
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.
-
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.
-
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.
-
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.
-
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.
-
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.
-
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.
-
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.
-
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.
-
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.
-
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.
-
F. Allione, A. E. Gkikakis, C. Di Natali & D. Caldwell, 2024.
DOI.
Video.
Balancing and Hopping With a Ring Screw Actuation on One Leg.
IEEE Robotics and Automation Letters,
vol. 9, no. 10, pp. 8378–8385.
Talks
-
The Physics and Control of Balancing on a Point. 2015.
(1 hour)
Abstract.
Slides.
Slides X8.
Fork Movie (6.7MB).
Lean Movie (1.5MB).
-
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.
-
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.
-
News from the Skippy Project: Reaching for the Performance Envelope.
2020. (25 minutes)
Abstract.
Movie (50MB).
-
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.
-
Control of Absolute Motion While Balancing in 2D.
2021. (10 minutes)
Presentation (18MB).
Presented (virtually) at ICAR 2021 in
connection with publication #26.
-
Balancing on a Knife Edge While Doing Something Else.
2024. (1 hour seminar)
Abstract.
First Movie (14MB).
Slides.
Second Movie (18MB).