Joan Lasenby

About

Joan Lasenby is a prominent researcher at the intersection of geometric algebra, robotics, and computer graphics, whose work has fundamentally shaped how mathematicians and engineers approach spatial computation and kinematic problem-solving. Based at Cambridge University, her research has established geometric algebra as a powerful unifying mathematical framework applicable across physics, engineering, and computer science — a vision advanced through her widely-read volumes, including *Applications of Geometric Algebra in Computer Science and Engineering* (2002, 141 citations) and *Guide to Geometric Algebra in Practice* (2011). Lasenby's contributions to inverse kinematics have proven especially influential. Her 2017 survey on inverse kinematics techniques in computer graphics has accumulated 246 citations, becoming an essential reference for students and practitioners in robotics, animation, and game development. Her work extending the FABRIK algorithm and developing closed-form inverse kinematics solutions using conformal geometric algebra demonstrates her commitment to bridging elegant theory with practical implementation. More recent investigations into robot singularities and delta robot kinematics further underscore her sustained relevance in modern robotics research. Through decades of rigorous, cross-disciplinary scholarship, Lasenby has cultivated a body of work that continues to influence how researchers model, simulate, and control complex physical systems.

Research Focus

Key Achievements

Top Papers

1. 1
   Inverse Kinematics Techniques in Computer Graphics: A Survey

   246 citations · 2017
2. 2
   Applications of Geometric Algebra in Computer Science and Engineering

   141 citations · 2002
3. 3
   Extending FABRIK with model constraints

   77 citations · 2015
4. 4
   Guide to Geometric Algebra in Practice

   70 citations · 2011
5. 5
   Closed-form solutions for the inverse kinematics of serial robots using conformal geometric algebra

   46 citations · 2022
6. 6
   The Forward and Inverse Kinematics of a Delta Robot

   25 citations · 2020
7. 7
   Pantomimic Gestures for Human–Robot Interaction

   22 citations · 2015
8. 8
   Inverse Kinematics Solutions Using Conformal Geometric Algebra

   16 citations · 2011
9. 9
   Singularities of Serial Robots: Identification and Distance Computation Using Geometric Algebra

   14 citations · 2022
10. 10
    Applications of Geometric Algebra in Physics and Links With Engineering

    11 citations · 2001

Key Collaborators

Contact & Links