The Open UniversitySkip to content

Pose, posture, formation and contortion in kinematic systems

Rooney, J. and Tanev, T.K. (2002). Pose, posture, formation and contortion in kinematic systems. In: Bianchi, Giovanni; Guinot, Jean-Claude and Rzymkowski, Cezary eds. ROMANSY 14: Theory and Practice of Robots and Manipulators: Proceedings of the Fourteenth Cism-IFToMM Symposium. CISM International Centre for Mechanical Sciences (438). Springer, pp. 77–86.

Full text available as:
PDF (Not Set) - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
Download (417Kb)
Google Scholar: Look up in Google Scholar


The concepts of pose, posture, formation and contortion are defined for serial, parallel and hybrid kinematic systems. Workspace and jointspace structure is examined in terms of these concepts. The inter-relationships of pose, posture, formation and contortion are explored for a range of robot workspace and jointspace types.

Item Type: Book Chapter
ISBN: 3-211-83691-8, 978-3-211-83691-0
Academic Unit/Department: Faculty of Science, Technology, Engineering and Mathematics (STEM)
Item ID: 5408
Depositing User: Joseph Rooney
Date Deposited: 06 Sep 2006
Last Modified: 05 Oct 2016 06:27
Share this page:

Download history for this item

These details should be considered as only a guide to the number of downloads performed manually. Algorithmic methods have been applied in an attempt to remove automated downloads from the displayed statistics but no guarantee can be made as to the accuracy of the figures.

▼ Automated document suggestions from open access sources

Actions (login may be required)

Policies | Disclaimer

© The Open University   + 44 (0)870 333 4340