A Perspective onto the Structure of Motions from the Viewpoint of Dualization

TitleA Perspective onto the Structure of Motions from the Viewpoint of Dualization
Publication TypePresentation
Year of Publication2021
AuthorsBongardt B, Löwe H, Müller A, Steil JJ
Conference NameGeometry and Topology in Robotics: Learning, Optimization, Planning, and Control / RSS Workshop
Date Published07/2021
Abstract

The inquest of spatial motions of rigid bodies is a classic topic in mechanism science and an ongoing activity that is relevant, amongst others, for planning and real-time control of robotic systems. This document describes the concept for a poster contribution to the RSS workshop Geometry and Topology in Robotics: Learning, Optimization, Planning, and Control. The poster shall outline historical and recent developments in computational kinematics with respect to algebraic forms of rigid body motions using the transference principle as the major guidance.