Jackie Dooley

University of California, Irvine, Irvine University

Papers

Total Citations

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About

Jackie Dooley’s research lies at the intersection of robotics, geometric mechanics, and advanced kinematic analysis, with a particular focus on the dynamics and control of cooperating robot systems. Her most influential work, “Spatial rigid body dynamics using dual quaternion components” (57 citations), provides a foundational framework for modeling the equations of motion for multi-arm robotic systems by elegantly connecting individual arm dynamics through constraint equations using dual quaternion algebra. This approach offers a powerful, unified representation for spatial displacements. Dooley further extended this geometric methodology in her work on optimum trajectories for cooperating robots (18 citations), where she leveraged the algebraic manifolds of spatial displacements to enable sophisticated trajectory analysis. Her contributions also include a detailed examination of joint-space obstacle boundaries for 5R closed-chain robots (13 citations), a common configuration in robotics. By deriving parameterized descriptions of these obstacles, Dooley provided practical tools for workspace analysis and path planning. Her work is notable for its rigorous geometric treatment of complex robotic systems, offering researchers and students a clear, algebraic framework for tackling the challenges of multi-arm coordination and constrained motion.