A Simple Class of Functions for the Analysis/Optimization of Robotic Motions

The paper deals with the problem of analyzing and eventually optimizing robotic motions using a simple class of feasible trajectories for the joints. The basic idea stems from the analysis of motions in sports. Many tasks in sport are not specified in term of equivalent joint trajectories but mainly with boundary conditions of joint position and velocity (e.g. weight lifting, punching, swinging in golf). In such tasks even if the `optimal´ trajectory is not a-priori known, some properties can be however inferred and therefore translated in the shape of the representing functions.