A Lie Group Formulation of Robot Dynamics.

Frank C. Park James E. Bobrow Scott R. Ploen

Published in: Int. J. Robotics Res. (1995)

Keyphrases

lie group
lie algebra
infinite dimensional
vector space
mean shift
parameter space
euclidean space
vector field
lagrange multipliers
humanoid robot
geometric structure
linear transformation
riemannian manifolds
covariance matrices
data points