Introduces the Dual-Upper-Triangular Invariant Representation (DUTIR) as a coordinate-invariant local representation for motion and force trajectories with improved robustness to singularities and a supporting computational algorithm.
IEEE Access10, 82923– 82943 (2022)
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A Coordinate-Invariant Local Representation of Motion and Force Trajectories for Identification and Generalization Across Coordinate Systems
Introduces the Dual-Upper-Triangular Invariant Representation (DUTIR) as a coordinate-invariant local representation for motion and force trajectories with improved robustness to singularities and a supporting computational algorithm.