TY - JOUR T1 - Double quaternions for motion interpolation JF - Proceedings of the ASME Design Engineering Technical Conference Y1 - 1998 A1 - Ge,Q. J A1 - Varshney, Amitabh A1 - Menon,J. P A1 - Chang,C. F AB - 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. ER -