Motion Interpolation with Bennett Biarcs

This page illustrates Bennett biarc motions, as presented in the article

H.-P. Schröcker, B. Jüttler: Motion Interpolation with Bennett Biarcs. In Andres Kecskeméthy and Andreas Müller, editors, Proceedings of Computational Kinematics (CK 2009), pages 101–108. Springer, 2009. [ DOI ]

• bennett-biarc-01.mpg (646K)
• bennett-biarc-02.mpg (224K)

• Blue: start and end pose plus instantaneous screws.
• Red: moving object
• Green: joint pose