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

Yueshi Shen; Knut Hüper; Fátima Silva Leite

doi:10.1109/ROBOT.2006.1641170

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

Yueshi Shen^*, Knut Hüper, Fátima Silva Leite

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 Citations (Scopus)

Abstract

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 will be 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.

Original language	English
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	113-118
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2006.1641170
Publication status	Published - 2006
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: 15 May 2006 → 19 May 2006

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Conference

Conference	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	15/05/06 → 19/05/06

Access to Document

10.1109/ROBOT.2006.1641170

Cite this

Shen, Y., Hüper, K., & Leite, F. S. (2006). Smooth interpolation of orientation by rolling and wrapping for robot motion planning. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 113-118). Article 1641170 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641170

@inproceedings{9b256fc72d92434091b899041287fcca,

title = "Smooth interpolation of orientation by rolling and wrapping for robot motion planning",

abstract = "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 will be 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.",

author = "Yueshi Shen and Knut H{\"u}per and Leite, {F{\'a}tima Silva}",

year = "2006",

doi = "10.1109/ROBOT.2006.1641170",

language = "English",

isbn = "0780395069",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "113--118",

booktitle = "Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006",

note = "2006 IEEE International Conference on Robotics and Automation, ICRA 2006 ; Conference date: 15-05-2006 Through 19-05-2006",

}

Shen, Y, Hüper, K & Leite, FS 2006, Smooth interpolation of orientation by rolling and wrapping for robot motion planning. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1641170, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 113-118, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 15/05/06. https://doi.org/10.1109/ROBOT.2006.1641170

Smooth interpolation of orientation by rolling and wrapping for robot motion planning. / Shen, Yueshi; Hüper, Knut; Leite, Fátima Silva.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 113-118 1641170 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Hüper, Knut

AU - Leite, Fátima Silva

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AB - 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 will be 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.

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T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006

Y2 - 15 May 2006 through 19 May 2006

ER -

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

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