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

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

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:

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

Date of Conference:

15-19 May 2006