Title | A Perspective onto the Structure of Motions from the Viewpoint of Dualization |
Publication Type | Presentation |
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 |
Date Published | 07/2021 |
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. |
URL | https://git.rob.cs.tu-bs.de/public_repos/irp_papers/2021_poster_dualization/-/raw/main/2021_rss_geotopo_poster_dualization.pdf?inline=false |