Design and kinematic analysis of the novel almost spherical parallel mechanism Active Ankle. Journal of Intelligent and Robotic Systems.. In Press.
Novel Plücker Operators and a Dual Rodrigues Formula Applied to the IKP of General 3R Chains. International Symposium on Advances in Robot Kinematics (ARK).. In Press.
A Workspace Scaling Method for Motion Synchronization in SE(3). 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (Romansy).. In Press.