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Cubic Splines on Curved Spaces |
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| Authors: | NOAKES LYLE; HEINZINGER GREG; PADEN BRAD |
| Institution: |
Department of Mathematics, University of Western Australia Nedlands WA 6009, Australia Department of Electrical Engineering and Computer Science, and The Electronics Research Laboratory, University of California Berkeley, CA 94720, USA Department of Mechanical Engineering, and THE NSF Center for Robotic Systems in Microelectronics, University of California Santa Barbara, CA 93106, USA |
| Abstract: | We consider a second-order problem in the calculus of variations,with an application to robotics in mind. The analysis is carriedout on a general Riemannian manifold M and then specializedto the case where M is the Lie group SO(3) of rotations in R3.For SO(3), the Euler-Lagrange equations reduce to interestingnonlinear systems of ordinary differential equations in R3. |
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