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Principles of Transference in Theoretical Kinematics

[+] Author Affiliations
Jin Seob Kim, Gregory S. Chirikjian

Johns Hopkins University, Baltimore, MD

Paper No. DETC2015-47624, pp. V05CT08A058; 9 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5C: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5714-4
  • Copyright © 2015 by ASME


The concept of symmetrical parameterizations of rigid-body motions was introduced in a paper in the Yang Symposium in 2014 in the context of biomolecular docking applications. These parameters are symmetrical in the sense that they “look the same” in a motion and in its inverse. Here we examine properties of special symmetrical parameterizations of rotations and full rigid-body motions in the plane and three-dimensional space. In particular, it is shown how special kinds of motions can “pass through”, or transfer, from left to right. And conjugations of rotation or homogeneous transforms can transfer to the symmetrical parameters.

Copyright © 2015 by ASME



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