Institute for
Robotics and Process Control

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seminar topic

Invariant Description of Rigid Body Motion Trajectories

course: Bachelor/Master
For the Programming-By-Demonstration approach it is important to have an invariant representation of that motion. Otherwise the same motion can not be recognized if it is performed e.g. with a different orientation and an accurate reproduction of this motion is difficult. Joris De Schutter has developed a mathematical complex representation that is invariant w.r.t. time scale, linear and angular scale, motion profile and the reference frame. The goal of this seminar is to present this representation and to explain its benefits.

Literature: Joris De Schutter(External)(PDF)




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