|Title||A Perspective onto the Structure of Motions from the Viewpoint of Dualization|
|Year of Publication||2021|
|Authors||Bongardt B, Löwe H, Müller A, Steil JJ|
|Conference Name||Geometry and Topology in Robotics: Learning, Optimization, Planning, and Control / RSS Workshop|
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.