%0 Journal Article %J Proceedings of the ASME Design Engineering Technical Conference %D 1998 %T Double quaternions for motion interpolation %A Ge,Q. J %A Varshney, Amitabh %A Menon,J. P %A Chang,C. F %X 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. %B Proceedings of the ASME Design Engineering Technical Conference %8 1998/// %G eng