Smooth interpolation of orientation by rolling and wrapping for robot motion planning
Shen, Y.; Huper, K.; Leite, F.S.
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Volume , Issue , 15-19 May 2006 Page(s):113 - 118
Digital Object Identifier   10.1109/ROBOT.2006.1641170
Summary: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 with the pull back/push forward technique. One remarkable advantage of this approach is that interpolation curves are given in closed form, which brings convenience for implementations on real-time control systems. A numerical example along with some visualization results is presented as well

» View citation and abstract

Log in by entering your IEEE Web Account Username and Password.

IEEE Communications Society members: If you subscribe to the IEEE Electronic Periodicals Package or IEEE Electronic Periodicals Package Plus, you must access your subscription at www.comsoc.org.

Check with your librarian, information professional, or system manager to determine if you need to log in. Please complete the online Technical Support Form if you need assistance.

Select the Purchase History link to access the document. You will have 5 Days after purchase to access the Full Text PDF. Please complete the online Technical Support Form if you need assistance.

• Search and access Abstract records free of charge
• Register for table of contents alerts
• Purchase Full Text PDF documents

» Learn more about subscription options or how to become an IEEE Member.