Examples of trajectories, illustrating the motor equivalence property.

Trajectories produced by the BAP model simulating writers Estelle (left), Christophe (center), and Julienne (right), using a simulated arm (top row), a two-joint robotic arm (middle row) and a holonomic mobile robot (bottom row). Writing styles are preserved independently of the effector: notice, for example, the sharp peak at the end of the trajectory, which is specific to Christophe's writing style.