• Murray, Richard M., et al. A mathematical introduction to robotic manipulation. CRC press, 1994.
  • Featherstone, Roy. Rigid body dynamics algorithms. Springer, 2008.
  • Duindam, Vincent. Port-based modeling and control for efficient bipedal walking robots. Diss. University of Twente, 2006.

linear algebra

  • mappings
  • surjective, injective, bijective
  • vector space
  • lie algebra
  • dual vector space
  • vector product
  • tensor

differential geometry & lie groups

  • group
  • lie group