Applications of Dual Quaternion Algebra to Robotics @ICAR19

Following recent advances and extensive use of quaternion and dual quaternion algebra in robotics, we are happy to announce the 1st Workshop on Applications of Dual Quaternion Algebra to Robotics which will be taking place at the International Conference on Advanced Robotics (ICAR) 2019, in Belo Horizonte, Brazil on the 5th of December 2019. We hope to provide an engaging atmosphere to disseminate new ideas and, encourage intellectual exchange and networking through discussions and collaborations within the robotics community.


Dual quaternion algebra has proven to be a very powerful mathematical tool to represent both physical phenomena, such as rigid motions, twists, and wrenches, in addition to several mathematical objects such as Plücker lines, planes, points, spheres, cylinders, etc. in a straightforward way, which is useful when describing geometrical tasks directly in the task-space. Thanks to those advantages, there has been an increasing interest in the study of kinematic and dynamic representations of robotic systems using dual quaternion algebra. Those works comprise rigid motion stabilization, tracking, and multiple body coordination, kinematic control of manipulators with single and multiple arms, algorithms for inverse dynamics analysis and, also, applications to human-robot interaction and surgical robotics. This workshop has three main objectives: (i) to consolidate such contributions through talks from academic leaders across different fields of applications; (ii) introduce novel theories and applications in such emerging field through talks from applicants and (iii) provide a proper forum for discussion of benefits, drawbacks and ongoing works with respect to dual quaternion algebra within the robotics community.

Important Dates


Final Programme

Accepted Papers

Tentative Programme