This paper reviews the Euler–Rodrigues formula in the axis–angle representation of
rotations, studies its variations and derivations in different mathematical forms as vectors …

This work spans and combines a wide range of research topics. In order to classify this work
within the robotics research landscape, this chapter provides a survey about all adjoining …

Summary DART (Dynamic Animation and Robotics Toolkit) is a collaborative, cross-platform,
open source library created by the Graphics Lab and Humanoid Robotics Lab at Georgia …

A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of
the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of …

Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics
through the medium of spatial 6D vector notation. It explains how to model a rigid-body …

In this paper, we provide specific and practical approaches to associate uncertainty with 4×
4 transformation matrices, which is a common representation for pose variables in 3-D …

Robots are machines that have interested the general population throughout history. In
general, they are machines or devices that operate automatically or by remote control …

The need for fast and accurate analysis of soft robots calls for reduced order models (ROM).
Among these, the relative reduction of strain-based ROMs follows the discretization of the …

The recently introduced matrix group provides a 5 5 matrix representation for the orientation,
velocity, and position of an object in the 3-D space, a triplet we call “extended pose.” In this …

With the increased application of model-based whole-body control in legged robots, there
has been a resurgence of research interest into methods for accurate system identification …