Avraham Cohen

Technion – Israel Institute of Technology, University of Pennsylvania

Papers

Total Citations

140

H-Index

About

Avraham Cohen is a pioneering researcher in the field of multibody kinematics and dynamics, with a particular focus on the innovative application of hyper-dual numbers and dual quaternions to rigid body motion. His work has fundamentally advanced the mathematical modeling of complex mechanical systems, introducing hyper-dual angles and transformation matrices that enable automatic differentiation for simultaneous computation of position, orientation, and velocity. Cohen’s most cited paper, “Application of Hyper-Dual Numbers to Multibody Kinematics” (2015, 55 citations), established a new framework for kinematic analysis, while his subsequent studies on hyper-dual numbers for equations of motion (2017, 44 citations) and hyper-dual quaternions (2020, 30 citations) have further solidified his impact. Beyond theoretical contributions, Cohen has applied his expertise to practical challenges, including the exploration of mine tunnels using multiple quadrupedal robots (2020, 6 citations), demonstrating the real-world utility of his kinematic models. His recent work on dual quaternion representations of Lagrange’s dynamic equations (2023) continues to push boundaries, offering new tools for accounting for dissipative forces. With a growing citation record and a clear trajectory of innovation, Cohen is shaping the future of robotic and mechanical system analysis.