% -----------------------------------------------------------------------------
% Theory and methods
% -----------------------------------------------------------------------------

@book{samson1991robot,
  title     = {Robot Control: The Task Function Approach},
  author    = {Samson, Claude and Espiau, Bernard and Le Borgne, Michel},
  year      = {1991},
  publisher = {Oxford University Press},
}

@article{sugihara2011solvability,
  title   = {Solvability-unconcerned inverse kinematics by the {Levenberg--Marquardt} method},
  author  = {Sugihara, Tomomichi},
  journal = {IEEE Transactions on Robotics},
  volume  = {27},
  number  = {5},
  pages   = {984--991},
  year    = {2011},
}

@article{sola2018micro,
  title   = {A micro {Lie} theory for state estimation in robotics},
  author  = {Sol{\`a}, Joan and Deray, Jeremie and Atchuthan, Dennis},
  journal = {arXiv preprint arXiv:1812.01537},
  year    = {2018},
}

@misc{caron2023jacobian,
  author       = {Caron, St{\'e}phane},
  title        = {Jacobian of a kinematic task and derivatives on manifolds},
  year         = {2023},
  howpublished = {\url{https://scaron.info/robotics/jacobian-of-a-kinematic-task-and-derivatives-on-manifolds.html}},
}

% -----------------------------------------------------------------------------
% Related software
% -----------------------------------------------------------------------------

@misc{zakka2024mink,
  author       = {Zakka, Kevin},
  title        = {mink: differential inverse kinematics for {MuJoCo}},
  howpublished = {\url{https://github.com/kevinzakka/mink}},
}

@misc{caron2024pink,
  author       = {Caron, St{\'e}phane},
  title        = {Pink: {Python} inverse kinematics with {Pinocchio}},
  howpublished = {\url{https://github.com/stephane-caron/pink}},
}

@misc{deepmind2025mujocowarp,
  author       = {{Google DeepMind}},
  title        = {{MuJoCo Warp}},
  howpublished = {\url{https://github.com/google-deepmind/mujoco_warp}},
}

@misc{newtonphysics2025newton,
  author       = {{NVIDIA and Google DeepMind}},
  title        = {Newton: {GPU}-accelerated physics for robot learning},
  howpublished = {\url{https://github.com/newton-physics/newton}},
}