Modelling orientation trajectories

摘要

We describe a modelling approach for orientation trajectories. The initial and finalorientations of the object are taken as known and the problem of how the object will transitionbetween the endpoints is considered. Orientations are represented as quaternions and mapped to atangent space. The deviation from the geodesic connecting the endpoints is introduced and called theslerp residual. Modelling the slerp residuals substantially reduces the distortion caused by mapping tothe tangent space. Bezier curves are used to compactly model the trajectories and provide a linkage topotential predictors. Data from an experiment to study human motion while reaching to perform awide variety of grasps are considered. The orientation trajectories of the hand are modelled in severalways resulting in a simple yet interpretable model.