# A Riemannian metric for geometry-aware singularity avoidance by articulated robots

> Research article (Robotics and Autonomous Systems, 2021) · cited 16× · AI/ML

**Wikidata**: [openalex:W3135551929](https://www.wikidata.org/wiki/openalex:W3135551929)  
**Source**: https://4ort.xyz/entity/a-riemannian-metric-for-geometry-aware-singularity-avoidance-by-articulated-robots