Locally Controllable Attitude B-Spline Function
Continuous attitude spline functions are used in computer animation and in the generation of virtual inertial sensor data. Unlike the B-spline functions in <inline-formula> <tex-math notation="LaTeX">$R^{3}$ </tex-math></inline-formula>, it is not easy to locally co...
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| Main Author: | |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10738723/ |
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| Summary: | Continuous attitude spline functions are used in computer animation and in the generation of virtual inertial sensor data. Unlike the B-spline functions in <inline-formula> <tex-math notation="LaTeX">$R^{3}$ </tex-math></inline-formula>, it is not easy to locally control attitude the B-spline function in <inline-formula> <tex-math notation="LaTeX">$SO(3)$ </tex-math></inline-formula>. In this paper, a modified attitude B-spline function is proposed, where the local control problem (smoothness and distance between the target attitude and spline function) is formulated as a linear quadratic optimization problem. The proposed algorithm is tested with human attitude target data to demonstrate the local controllability of the attitude B-spline functions. |
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| ISSN: | 2169-3536 |