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.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Yueshi Shen, Knut Hüper, F. Silva Leite
• Keywords: Back/push Forward Technique, ICRA 2006, Interpolation Curves, Robotics, Smooth Interpolation Curves