A concept for shape representation with linked local coordinate systems

This paper discusses a concept for the repre-sentation of n-dimensional shapes by means of amodel, based on linked local coordinate systems.Through application of the medial axis transform(MAT) and decomposition of the resulting medialaxis (MA), articulated, as well as non-rigid abstractn-dimensional bodies can be described by definingcorresponding local coordinate systems for each ele-ment. This should allow a distinct and invariant rep-resentation of every point of the shape, which can beused for complex composite transformations of theobject in the context of robotic manipulation.