Soheil Sarabandi

Institut de Robòtica i Informàtica Industrial, Universitat Politècnica de Catalunya

Papers

Total Citations

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About

Soheil Sarabandi’s research lies at the intersection of rigid body mechanics, robotics, and computational geometry, with a particular focus on the mathematical foundations of rotation parameterization and parallel robot design. His most influential work, “A Survey on the Computation of Quaternions From Rotation Matrices” (2018, 45 citations), provides a comprehensive taxonomy of methods for converting between these fundamental representations—a critical operation in fields ranging from spacecraft attitude dynamics to 3D image processing. Building on this, his 2020 paper “On Closed-Form Formulas for the 3-D Nearest Rotation Matrix Problem” (43 citations) offers elegant analytical solutions for restoring orthonormality in noisy rotation data, a problem pervasive in robotics and computer vision. Sarabandi also contributes to mechanism design, as evidenced by his work on a reconfigurable asymmetric 3-UPU parallel robot (11 citations), which explores novel architectures for achieving pure translational or rotational motion. His contributions are particularly notable for bridging theoretical rigor with practical applicability, providing researchers with robust mathematical tools for real-world implementation. With over 100 total citations, Sarabandi’s work continues to serve as essential reference material for engineers and scientists working with rotational transformations and parallel kinematic machines.