2025
An Average-Distance Minimizing Motion Sweep for Bounded Spatial Objects and Its Application in Bézier-Like Freeform Motion Generation
ICRA 2025
This paper uses the ellipsoidal parameters associated with volume moments of inertia of a bounded solid object to construct a motion sweep joining two poses of the solid object, in contrast to earlier works on motion interpolation in SE(3) without taking into account the shape of the moving object.