C. G. Gibson

Papers

Total Citations

144

H-Index

About

C. G. Gibson is a mathematician whose work bridges pure geometry and applied kinematics, with a particular focus on screw theory and robotic manipulation. His most influential contribution, "Geometry of Screw Systems—1" (1990), has garnered 126 citations, establishing a foundational geometric framework for analyzing the instantaneous motion of rigid bodies—a cornerstone in robotics and mechanism design. Gibson’s research centers on the algebraic and differential geometry of configuration spaces, branch loci, and singularities, offering rigorous tools for understanding complex mechanical systems. In a notable applied study (1991), he collaborated on developing a dexterity measure for the kinematic control of multifingered robot hands, specifically the Salisbury hand. This work involved an exhaustive catalog of finger design types based on branch locus analysis and explored the manifold properties of the finger linkage’s configuration space. Though less cited (18 citations), it exemplifies his ability to translate abstract geometric insights into practical robotic control. Gibson’s contributions have shaped how engineers and mathematicians model and optimize robotic systems, making his work essential reading for those interested in the geometric underpinnings of kinematics and manipulation.