References

[FrameTaskJacobian]

Jacobian of a kinematic task and derivatives on manifolds. S. Caron. 2023.

[MLT]

A micro Lie theory for state estimation in robotics. J. Solà, J. Deray, D. Atchuthan. 2018.

[Sugihara2011]

Solvability-Unconcerned Inverse Kinematics by the Levenberg-Marquardt Method. T. Sugihara. IEEE transactions on robotics, 2011, vol. 27, no 5, p. 984-991.