Youcef Mezouar received the Ph.D. degrees in automation and computer science from the University of Rennes 1, France in 2001. He obtained the Habilitation Degree (HDR - Habilitation à Diriger des Recherches) from Université Blaise Pascal, Clermont-Ferrand, France, in November 2009. He spent one year as Postdoctoral Associate in the Robotic Lab of the Computer Science Department of Columbia University, New York. He was assistant professor from 2002 to 2011 in the Physics Department of Blaise Pascal University, Clermont-Ferrand, France. He holds a tenured position as Full Professor at SIGMA'Clermont (IFMA until 2016) since 2012. At SIGMA, he is the head of the Machines, Mechanisms and Systems Department.
He is performing research at the MACCS (Modeling, Autonomy and Control of ComplEx System) team of the Image, Perception System and Robotics (IPSR) of Institut Pascal. He currently co-leads the IPSR reseach group (over 80 persons) and the MACCS team (around 20 persons). His research interests include computer vision, omnidirectional vision, active perception, visual servoing, multi-sensor based control, force-vision coupling, visual navigation of wheeled and aerial vehicules. He co-authored more than 140 papers on the topics of robotics and computer vision.
You can download Here the matlab/octave code for kinematic modeling and control of robotic arms using unit dual quaternion.
Ozgur, E., Mezouar, Y. (2016) Kinematic modeling and control of a robot arm using unit dual quaternions, Robotics and Autonomous Systems, Available online 17 December 2015, ISSN 0921-8890.