Books

  1. R. Featherstone, 1987.
    Robot Dynamics Algorithms.  Kluwer Academic Publishers, Boston/Dordrecht/Lancaster, 1987.
  2. R. Featherstone, 2007.
    Rigid Body Dynamics Algorithms.  Springer, New York, 2007.  Amazon.

A selection of my published papers

  1. 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.
  2. R. Featherstone, 1983b.
    The Calculation of Robot Dynamics using Articulated-Body Inertias.  Int. J. Robotics Research, vol. 2, no. 1, pp. 13-30, 1983.
  3. 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.
  4. 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.
  5. 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.
  6. 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.
  7. 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.
  8. R. Featherstone & D. E. Orin, 2000.
    Robot Dynamics: Equations and Algorithms.  IEEE  Int. Conf. Robotics & Automation, pp. 826-834, 2000.  Abstract.  Full Text (PDF).
  9. 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.
  10. R. Featherstone, 2001.
    The Acceleration Vector of a Rigid Body.  Int. J. Robotics Research, vol. 20, no. 11, pp. 841-846.  Abstract.
  11. 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.
  12. R. Featherstone, 2004a.
    Modeling and Control of Contact Between Constrained Rigid Bodies.  IEEE Trans. Robotics & Automation, vol. 20, no. 1, pp. 82-92.  Abstract.
  13. 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).
  14. 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).
  15. R. Featherstone, 2006.
    Plücker Basis Vectors.  IEEE  Int. Conf. Robotics & Automation, pp. 1892-1897.  Abstract.  Full Text (PDF).  Conference Slides (PDF).
  16. 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).

Papers in the pipeline

  1. R. Featherstone.
    Exploiting Sparsity in Operational-Space Dynamics.  Submitted to Int. J. Robotics Research.  Abstract.  Full Text (PDF).

Talks