Hello, and welcome to my website. Here you can find information and tutorials on spatial (6D) vectors, and software for calculating robot and rigid-body dynamics. In particular, you can find the software library spatial_v2 that goes with the book Rigid Body Dynamics Algorithms. You can also find out a bit about myself, my research, and past and present projects; and you can access my teaching materials, publications and talks. Just follow the links below.
