2024
Smooth Invariant Interpolation on Lie groups with Prescribed Terminal Conditions for Robot Motion Planning and Modeling of Soft Robots
IROS 2024poster
Interpolation of rigid body motions, or a general frame motion in Euclidean space, is a recurring topic in robotics. It boils down to generating trajectories in a Lie group, either SE (3) or SO (3) × ℝ3, with given initial and/or terminal values. To this end, spline interpolation schemes were develo…