Multipods and Group-Leg Duality

24.11.2022 09:45 - 11:15

Josef Schicko (U Linz)

The kinematics of a multipod, i.e., a mechanism consisting of a fixed base, a moving platform, and several legs connecting base and platforms, is determined by algebraic conditions determined by the length and other geometric parameters of the legs. For suitable projective embeddings of the group of Euclidean and the set of possible legs, the conditions define a duality between group elements and legs. This duality can explain paradoxical mobility in many cases.


A. Mellit, B. Szendroi, V. Vertesi


BZ 2, 2. OG., OMP 1