Pose changes from a different point of view
-
Altmetric Citations
Chirikjian, Gregory S.; Mahony, Robert; Ruan, Sipu; Trumpf, Jochen
Description
For more than a century, rigid-body displacements have been viewed as affine transformations described as homogeneous transformation matrices wherein the linear part is a rotation matrix. In group-theoretic terms, this classical description makes rigid-body motions a semidirect product. The distinction between a rigid-body displacement of Euclidean space and a change in pose from one reference frame to another is usually not articulated well in the literature. Here, we show that, remarkably,...[Show more]
dc.contributor.author | Chirikjian, Gregory S. | |
---|---|---|
dc.contributor.author | Mahony, Robert | |
dc.contributor.author | Ruan, Sipu | |
dc.contributor.author | Trumpf, Jochen | |
dc.date.accessioned | 2020-01-24T00:52:42Z | |
dc.identifier.issn | 1942-4302 | |
dc.identifier.uri | http://hdl.handle.net/1885/199597 | |
dc.description.abstract | For more than a century, rigid-body displacements have been viewed as affine transformations described as homogeneous transformation matrices wherein the linear part is a rotation matrix. In group-theoretic terms, this classical description makes rigid-body motions a semidirect product. The distinction between a rigid-body displacement of Euclidean space and a change in pose from one reference frame to another is usually not articulated well in the literature. Here, we show that, remarkably, when changes in pose are viewed from a space-fixed reference frame, the space of pose changes can be endowed with a direct product group structure, which is different from the semidirect product structure of the space of motions. We then show how this new perspective can be applied more naturally to problems such as monitoring the state of aerial vehicles from the ground, or the cameras in a humanoid robot observing pose changes of its hands. | |
dc.description.sponsorship | Division of Information and Intelligent Systems, National Science Foundation (Grant No. IIS-1619050), Office of Naval Research Global (Grant No. N00014-17-1-2142). | |
dc.format.mimetype | application/pdf | |
dc.language.iso | en_AU | |
dc.publisher | The American Society of Mechanical Engineers | |
dc.rights | © 2018 ASME | |
dc.source | Journal of Mechanisms and Robotics | |
dc.subject | Theoretical kinematics | |
dc.title | Pose changes from a different point of view | |
dc.type | Journal article | |
local.description.notes | Imported from ARIES | |
local.identifier.citationvolume | 10 | |
dc.date.issued | 2018-02-27 | |
local.identifier.absfor | 090602 - Control Systems, Robotics and Automation | |
local.identifier.ariespublication | a383154xPUB9497 | |
local.publisher.url | https://asmedigitalcollection.asme.org | |
local.type.status | Published Version | |
local.contributor.affiliation | Chirikjian, Gregory S., Johns Hopkins University | |
local.contributor.affiliation | Mahony, Robert, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Ruan, Sipu, Johns Hopkins University | |
local.contributor.affiliation | Trumpf, Jochen, College of Engineering and Computer Science, ANU | |
local.description.embargo | 2037-12-31 | |
local.bibliographicCitation.issue | 2 | |
local.bibliographicCitation.startpage | 1 | |
local.bibliographicCitation.lastpage | 12 | |
local.identifier.doi | 10.1115/1.4039121 | |
local.identifier.absseo | 970109 - Expanding Knowledge in Engineering | |
dc.date.updated | 2019-11-25T07:23:32Z | |
local.identifier.scopusID | 2-s2.0-85042706481 | |
Collections | ANU Research Publications |
Download
File | Description | Size | Format | Image |
---|---|---|---|---|
01_Chirikjian_Pose_changes_from_a_different_2018.pdf | 1.92 MB | Adobe PDF | Request a copy |
Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.
Updated: 17 November 2022/ Responsible Officer: University Librarian/ Page Contact: Library Systems & Web Coordinator