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Dual Quaternion Quintic Blends: $$\mathcal {C}^2$$-Continuous, Time-Optimized Interpolation with Unit Dual Quaternion Pose Representation2024 Springer proceedings in advanced robotics conference-paper Engineering Robotic Mechanisms and Dynamics
Jens Temminghoff, Marcel Huptych, Jan Wiartalla, Burkhard J. Corves, Mathias Hüsing
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