Double quaternions for motion interpolation

TitleDouble quaternions for motion interpolation
Publication TypeJournal Articles
Year of Publication1998
AuthorsGe QJ, Varshney A, Menon JP, Chang CF
JournalProceedings of the ASME Design Engineering Technical Conference
Date Published1998///

This paper describes the concept of double quaternions, anextension of quaternions, and shows how they can be used for ef-
fective three-dimensional motion interpolation. Motion interpo-
lation using double quaternions has several advantages over the
method of interpolating rotation and translation independently
and then combining the results. First, double quaternions pro-
vide a conceptual framework that allows one to handle rotational
and translational components in a unified manner. Second, re-
sults obtained by using double quaternions are coordinate frame
invariant. Third, double quaternions allow a natural way to trade-
off robustness against accuracy. Fourth, double quaternions, be-
ing a straightforward extension of quaternions, can be integrated
into several existing systems that currently use quaternions with
translational components, with a only small coding effort.