Higher-order logic formalization of conformal geometric algebra and its application in verifying a robotic manipulation algorithm

DOI10.1007/s00006-016-0650-5zbMath1367.65032WikidataQ112879298 ScholiaQ112879298MaRDI QIDQ2360828

Yong Guan, Yong-Dong Li, Zhen-Zhou Shao, Sha Ma, Zhiping Shi, Liming Li

Publication date: 29 June 2017

Published in: Advances in Applied Clifford Algebras (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00006-016-0650-5

zbMATH Keywords

algorithm; conformal geometric algebra; robot; formalization; HOL-light; grasping algorithm

Mathematics Subject Classification ID

65D18: Numerical aspects of computer graphics, image analysis, and computational geometry

70E60: Robot dynamics and control of rigid bodies

15A66: Clifford algebras, spinors

Uses Software

• CLUCalc
• Gaalop
• Nitpick
• HOL Light
• FABRIK
• seL4