Optimizations and Performance of a Robotics Grasping Algorithm Described in Geometric Algebra

  • Florian Wörsdörfer
  • Florian Stock
  • Eduardo Bayro-Corrochano
  • Dietmar Hildenbrand
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5856)


The usage of Conformal Geometric Algebra leads to algorithms that can be formulated in a very clear and easy to grasp way. But it can also increase the performance of an implementation because of its capabilities to be computed in parallel. In this paper we show how a grasping algorithm for a robotic arm is accelerated using a Conformal Geometric Algebra formulation. The optimized C code is produced by the CGA framework Gaalop automatically. We compare this implementation with a CUDA implementation and an implementation that uses standard vector algebra.


Conformal Geometric Algebra Robot Grasping CUDA Runtime Performance 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Florian Wörsdörfer
    • 1
  • Florian Stock
    • 2
  • Eduardo Bayro-Corrochano
    • 3
  • Dietmar Hildenbrand
    • 1
  1. 1.Graphical Interactive Systems GroupTechnische Universität DarmstadtGermany
  2. 2.Embedded Systems and Applications GroupTechnische Universität DarmstadtGermany
  3. 3.CINVESTAVGuadalajaraMexico

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