Cart (Loading....) | Create Account
Close category search window
 

Smooth interpolation of orientation by rolling and wrapping for robot motion planning

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Shen, Y. ; Dept. of Inf. Eng., Australian Nat. Univ., Canberra, ACT ; Huper, K. ; Silva Leite, F.

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

Published in:

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Date of Conference:

15-19 May 2006

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.