Papers
13
Total Citations
86
H-Index
5
About
O. Carbajal-Espinosa is a robotics researcher whose work sits at the compelling intersection of geometric algebra, robot kinematics, and advanced control theory. Over more than a decade of scholarship, he has established himself as a leading proponent of Conformal Geometric Algebra (CGA) as a unifying mathematical framework for solving complex robotics problems, from kinematic modeling to real-time obstacle avoidance. His most influential contribution, "Robust Pose Control of Robot Manipulators Using Conformal Geometric Algebra" (2014, 23 citations), exemplifies his signature approach: leveraging the elegant geometric primitives of CGA to develop controllers that are both mathematically rigorous and computationally practical. His work on humanoid robotics has been particularly impactful, spanning inverse kinematics for 6-DOF walking legs, biologically inspired gait control, and bipedal stabilization algorithms. His sliding mode controllers grounded in CGA-derived dynamic models demonstrate a rare fluency across both theoretical and applied domains. More recently, Carbajal-Espinosa has extended his expertise toward rehabilitation engineering, developing adaptive barrier Lyapunov-based control for Stewart platform ankle mobilizers. With a portfolio accumulating nearly 80 citations across diverse robotic platforms, his research offers students and practitioners a coherent geometric lens through which to understand and control complex robotic systems.
Research Focus
Key Achievements
Top Papers
- 1Robust Pose Control of Robot Manipulators Using Conformal Geometric Algebra23 citations · 2014
- 2Inverse Kinematics for a 6-DOF Walking Humanoid Robot Leg18 citations · 2016
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- 6Obstacle avoidance for a humanoid arm using conformal geometric algebra5 citations · 2010
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- 10Stabilization method for dynamic gait in bipedal walking robots4 citations · 2016