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

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


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

CollectionsANU Research Publications
Date published: 2006
Type: Conference paper
Source: Proceedings 2006 IEEE International Conference on Robotics and Automation
DOI: 10.1109/ROBOT.2006.1641170


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