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Smooth Interpolation of Orientation by Rolling and Wrapping for Robot Motion Planning

Shen, Yueshi; Hueper, Knut; Leite, F Silva

Description

This paper investigates a novel procedure to calculate smooth interpolation curves of the rotation group SO3, which is commonly considered as the standard representation of rigid-body's orientations. The algorithm is a combination of rolling and wrapping

dc.contributor.authorShen, Yueshi
dc.contributor.authorHueper, Knut
dc.contributor.authorLeite, F Silva
dc.coverage.spatialOrlando USA
dc.date.accessioned2015-12-08T22:39:02Z
dc.date.available2015-12-08T22:39:02Z
dc.date.createdMay 15-19 2006
dc.identifier.isbn0-7803-9505-0
dc.identifier.urihttp://hdl.handle.net/1885/36074
dc.description.abstractThis paper investigates a novel procedure to calculate smooth interpolation curves of the rotation group SO3, which is commonly considered as the standard representation of rigid-body's orientations. The algorithm is a combination of rolling and wrapping
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesIEEE International Conference on Robotics and Automation (ICRA 2006)
dc.sourceProceedings 2006 IEEE International Conference on Robotics and Automation
dc.subjectKeywords: Algorithms; Control systems; Motion planning; Numerical methods; Real time systems; Robotics; Interpolation curves; Robot motion planning; Wrapping; Interpolation
dc.titleSmooth Interpolation of Orientation by Rolling and Wrapping for Robot Motion Planning
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2006
local.identifier.absfor091007 - Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
local.identifier.ariespublicationu3357961xPUB132
local.type.statusPublished Version
local.contributor.affiliationShen, Yueshi, College of Engineering and Computer Science, ANU
local.contributor.affiliationHueper, Knut, College of Engineering and Computer Science, ANU
local.contributor.affiliationLeite, F Silva, University of Coimbra
local.bibliographicCitation.startpage113
local.bibliographicCitation.lastpage118
local.identifier.doi10.1109/ROBOT.2006.1641170
dc.date.updated2015-12-08T10:13:00Z
local.identifier.scopusID2-s2.0-33845598926
CollectionsANU Research Publications

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