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This book presents a deep dive into the geometry of motion, which
is developed in combination with tools of numerical analysis and
then applied to significant problems from robotics and
biomechanics. The exposition starts with basic notions from
elementary algebra and geometry, and builds increasingly complex
ideas with arguments that appeal largely to intuition and
visualization. The aim of the book is not to simply present a set
of mathematical concepts, but to help the reader understand their
most intrinsic nature, and to establish a clear sense of how and
why these abstractions are used in practical, challenging
situations.
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