Mariana Fonseca
Master's thesis
Fonseca, M. P. A. Modelagem e Controle Hierárquico de Corpo Completo de um Robô Humanoide Utilizando a álgebra de Quatérnios Duais. Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Brasil, 2017.
Final course project
Fonseca, M. P. A. Desenvolvimento de software de visão computacional para leitura de termômetros de mercúrio visando sua calibração. Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Brasil, 2013.
Journal papers
Fonseca, M. P. A.; Adorno, B. V.; Fraisse, P. Coupled Task-Space Admittance Controller Using
Dual Quaternion Logarithmic Mapping. IEEE Robotics and Automation Letters., v.5, p.6057-6064, 2020.
Conference papers
Fonseca, M. P. A.; Adorno, B. V.; Fraisse, P. An Adaptive Controller with Guarantee of Better Conditioning of the Robot Manipulator Joint-Space Inertia Matrix. In 2019 19th International Conference on Advanced Robotics (ICAR). 2019, pp. 111-116.
Fonseca, M. P. A.; Adorno, B. V.; Fraisse, P. Design of an Adaptive Controller to Improve the Condition Number of the Inertia Matrix of Serial Manipulators. In XXII Congresso Brasileiro de Automática. 2018, pp. 1-8.
Fonseca, M. P. A. and Adorno, B. V. Whole-Body Modeling and Hierarchical Control of a
Humanoid Robot Based on Dual Quaternion Algebra. In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR). 2016, pp. 103-108.
Workshop extended abstracts
Fonseca, M. P. A.; Adorno, B. V.; Fraisse, P. Task-Space Impedance Controller Using Dual
Quaternion Logarithm. In Workshop on Applications of Dual Quaternion Algebra to
Robotics. 2019, pp. 1-2.