Related papers: Rational Motions of Minimal Quaternionic Degree wi…
This paper investigates the construction of rational motions of a minimal quaternionic degree that generate a prescribed plane trajectory (a ``rational torse''). Using the algebraic framework of dual quaternions, we formulate the problem as…
We give a constructive proof for the existence of a unique rational motion of minimal degree in the dual quaternion model of Euclidean displacements with a given rational parametric curve as trajectory. The minimal motion degree equals the…
The trajectories of a rational motion given by a polynomial of degree n in the dual quaternion model of rigid body displacements are generically of degree 2n. In this article we study those exceptional motions whose trajectory degree is…
Motion polynomials (polynomials over the dual quaternions with nonzero real norm) describe rational motions. We present a necessary and sufficient condition for reduced bounded motion polynomials to admit factorizations into monic linear…
A $\mathit{\text{moving frame}}$ at a rational curve is a basis of vectors moving along the curve. When the rational curve is given parametrically by a row vector $\mathbf{a}$ of univariate polynomials, a moving frame with important…
We present an algorithm to compute all factorizations into linear factors of univariate polynomials over the split quaternions, provided such a factorization exists. Failure of the algorithm is equivalent to non-factorizability for which we…
We introduce motions as real six-dimensional vectors. A motion means a rotation and a translation. We define a motion operator which maps unit dual quaternions to motions, and a UDQ operator which maps motions to unit dual quaternions. By…
This study presents a set of algorithms that deal with trajectory planning of rational single-loop mechanisms with one degree of freedom (DoF). Benefiting from a dual quaternion representation of a rational motion, a formula for direct…
For the classical N-body problem, an approach is proposed based on the introduction of some natural in the physical sense optimization problems of mathematical programming for finding a conditional minimum for the characteristics of the…
Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual…
We present a method for constructing all bounded rational motions that frame a space curve $\mathbf{r}(t)$. This means that the motion guides an orthogonal frame along the curve such that one frame axis is in direction of the curve tangent.…
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…
We present a practical algorithm to compute models of rational functions with minimal resultant under conjugation by fractional linear transformations. We also report on a search for rational functions of degrees 2 and 3 with rational…
The control problem of the working tool movement along a predefined trajectory is considered. The integral of kinetic energy and weighted inertia forces for the whole period of motion is considered as a cost functional. The trajectory is…
Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…
We study the coupled surface and grain boundary motion in a bicrystal in the context of the "quarter loop" geometry. Two types of physics motions are involved in this model: motion by mean curvature and motion by surface diffusion. The goal…
Various methods have been used to construct rational points and rational curves on rationally connected algebraic varieties. We survey recent advances in two of them, the descent and the fibration method, in a number-theoretical context…
Previous work on predicting or generating 3D human pose sequences regresses either joint rotations or joint positions. The former strategy is prone to error accumulation along the kinematic chain, as well as discontinuities when using Euler…
Given a generic rational curve $C$ in the group of Euclidean displacements we construct a linkage such that the constrained motion of one of the links is exactly $C$. Our construction is based on the factorization of polynomials over dual…
We consider the problem of finding an optimal piecewise linear path (polygonal line) connecting two given points with the possibility of making n turns at some points (the absolute value of each turn angle does not exceed a prescribed…