The Adjoint Trigonometric Representation of Displacements and a Closed-Form Solution to the IKP of General 3C Chains. Mechanism and Machine Theory.. In Press.
On Circle Intersections by Means of Distance Geometry. IFTOMM World Congress 2019.. In Press.
An Analysis of the Dual-Complex Unit Circle with Applications to Line Geometry. Conference on Geometry: Theory and Applications.. 2019.
Design and kinematic analysis of the novel almost spherical parallel mechanism Active Ankle. Journal of Intelligent and Robotic Systems. 94(2):303-325.. 2019.
Novel Plücker Operators and a Dual Rodrigues Formula Applied to the IKP of General 3R Chains. International Symposium on Advances in Robot Kinematics (ARK).. 2018.
A Workspace Scaling Method for Motion Synchronization in SE(3). 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (Romansy).. 2018.