Inverse kinematics of a humanoid robot based on conformal geometric algebra using optimized code generation. - Joachim Pitt; Dietmar Hildenbrand; Maximilian Stelzer; Andreas Koch 001 (Humanoids, 2008)

Gaalop - High Performance Parallel Computing Based on Conformal Geometric Algebra. - Dietmar Hildenbrand; Joachim Pitt; Andreas Koch 001 (Geometric Algebra Computing, 2010)