High-slope terrain locomotion for torque-controlled quadruped robots von Focchi, Michele, del Prete, Andrea, Havoutis, Ioannis, Featherstone, Roy, Caldwell, Darwin G., Semini, Claudio

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An Architecture for Fast and Accurate Control of Shape Memory Alloy Actuators von Yee Harn Teh, Featherstone, Roy

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A simple model of balancing in the plane and a simple preview balance controller von Featherstone, Roy

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A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 1: Basic Algorithm von Featherstone, Roy

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Quantitative measures of a robot’s physical ability to balance von Featherstone, Roy

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A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy von Featherstone, Roy

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Effects of repetitive low-acceleration impacts on attitude estimation with micro-electromechanical inertial measurement units von Allione, Federico, Gamba, Juan D., Gkikakis, Antonios E., Featherstone, Roy, Caldwell, Darwin

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Angular momentum based balance controller for an under-actuated planar robot von Azad, Morteza, Featherstone, Roy

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A Beginner's Guide to 6-D Vectors (Part 1) von Featherstone, Roy

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A Beginner's Guide to 6-D Vectors (Part 2): From Equations to Software von FEATHERSTONE, Roy

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Exploiting Sparsity in Operational-space Dynamics von Featherstone, Roy

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The Physics and Control of Balancing on a Point in the Plane von Featherstone, Roy

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A New Nonlinear Model of Contact Normal Force von Azad, Morteza, Featherstone, Roy

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A new factorization of the mass matrix for optimal serial and parallel calculation of multibody dynamics von Fijany, Amir, Featherstone, Roy

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A Beginner's Guide to 6-D Vectors (Part 2) [Tutorial] von Featherstone, Roy

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A Beginner's Guide to 6-D Vectors (Part 2) Tutorial von Featherstone, Roy

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Efficient Factorization of the Joint-Space Inertia Matrix for Branched Kinematic Trees von Featherstone, Roy

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A Begimnner's Guide to 6-D Vectors (Part 1): What They Are, How They Work, and How to Use Them von FEATHERSTONE, Roy

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Balancing on a Rolling Contact von Allione, Federico, Featherstone, Roy, Wensing, Patrick M., Caldwell, Darwin

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A Springy Leg and a Double Backflip von Gamba, Juan D., Featherstone, Roy

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