royfeatherstone.org

Roy Featherstone's Home Page

Hello, and welcome to my website. Here you can find information about spatial (6D) vectors and software for calculating robot and rigid-body dynamics. In particular, you can find the software. That goes with the book Rigid Body Dynamics Algorithms. You can also find out a bit more about myself, my research interests, past and present projects, and you can access my publications and talks. Just follow the links below. Shape Memory Alloy Project. Spatial Vectors and Dynamics Software.

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Roy Featherstone's Home Page | royfeatherstone.org Reviews

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Hello, and welcome to my website. Here you can find information about spatial (6D) vectors and software for calculating robot and rigid-body dynamics. In particular, you can find the software. That goes with the book Rigid Body Dynamics Algorithms. You can also find out a bit more about myself, my research interests, past and present projects, and you can access my publications and talks. Just follow the links below. Shape Memory Alloy Project. Spatial Vectors and Dynamics Software.

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7 skippy project

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Roy Featherstone's Home Page | royfeatherstone.org Reviews

https://royfeatherstone.org

Hello, and welcome to my website. Here you can find information about spatial (6D) vectors and software for calculating robot and rigid-body dynamics. In particular, you can find the software. That goes with the book Rigid Body Dynamics Algorithms. You can also find out a bit more about myself, my research interests, past and present projects, and you can access my publications and talks. Just follow the links below. Shape Memory Alloy Project. Spatial Vectors and Dynamics Software.

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royfeatherstone.org

1

About Roy Featherstone

http://www.royfeatherstone.org/aboutme.html

I am a researcher specializing in robot dynamics and related fields. I am currently a visiting professor in the Department of Advanced Robotics. At the Italian Institute of Technology. And I am the author of the books Robot Dynamics Algorithms. And Rigid Body Dynamics Algorithms. See my publications page. I am also a Fellow of the IEEE. And a member of its Robotics and Automation Society. For more information about my work, software, etc., follow the links on my home page.

2

Spatial Vectors

http://www.royfeatherstone.org/spatial/index.html

Spatial Vectors and Rigid-Body Dynamics. Spatial vectors are 6D vectors that simplify the task of describing, analysing, and calculating rigid-body dynamics. This page contains materials to help you learn about spatial vectors, software to help you perform dynamics calculations, and links to relevant materials elsewhere. Materials for the Course at IIT, Nov 28 – Dec 5 2014. Slides, notes, question and answer sheets). Question and answer sheets for calculation exercises). Slides (4 per page). This is the ...

3

Skippy Project

http://www.royfeatherstone.org/skippy/index.html

Sound too good to be true? We are making good progress towards these objectives, and we are already confident of the 4m hop. To find out more about this project, read publication 7 below, and then publication 11. The host institution for the Skippy project is the Italian Institute of Technology. If you would like to be a part of this project then look out for announcements on mailing lists like robotics worldwide. The mechanism may either pivot about a fixed point or make rolling contact with the ground ...

4

Roy Featherstone's Research Interests

http://www.royfeatherstone.org/interests.html

Although I am interested in a great many things, there is a very simple common theme, which can be summarized as follows: the study of complex physical motion and the means of producing it. Screws, spatial algebras, interval arithmetic, etc.). Forward and inverse kinematics, point and trajectory transforms, general numerical methods, numerical accuracy and efficiency, loop-closure & constraint stabilization techniques, etc.). Motion planning and synthesis. Motion at the performance envelope. Eg quantifyi...

5

Roy Featherstone's Publications

http://www.royfeatherstone.org/publist.html

R Featherstone, 1987. Kluwer Academic Publishers, Boston/Dordrecht/Lancaster, 1987. R Featherstone, 2008. Rigid Body Dynamics Algorithms. Springer, New York, 2008. 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. R Featherstone, 1983b. The Calculation of Robot Dynamics using Articulated-Body Inertias. Int. J. Robotics Research. R Featherstone, 1983c. A Technique for...

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Roy Featherstone's Home Page

Hello, and welcome to my website. Here you can find information about spatial (6D) vectors and software for calculating robot and rigid-body dynamics. In particular, you can find the software. That goes with the book Rigid Body Dynamics Algorithms. You can also find out a bit more about myself, my research interests, past and present projects, and you can access my publications and talks. Just follow the links below. Shape Memory Alloy Project. Spatial Vectors and Dynamics Software.

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