From curve design algorithms to the design of rigid body motions

Michael Hofer*, Helmut Pottmann, Bahram Ravani

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

30 Scopus citations


We discuss the following problem, which arises in computer animation and robot motion, planning: given are N positions or keyframes Σ(t i) of a moving body Σ ⊂ ℝ3 at time instances ti. Compute a smooth rigid body motion Σ(t) that interpolates or approximates the given positions Σ(ti) such that chosen feature points of the moving system run on smooth paths. We present an algorithm that can be considered as a transfer principle from curve design algorithms to motion design. The algorithm relies on known curve design algorithms and on registration techniques from computer vision. We prove that the motion generated in this way is of the same smoothness as the curve design algorithm employed.

Original languageEnglish (US)
Pages (from-to)279-297
Number of pages19
JournalVisual Computer
Issue number5
StatePublished - Jan 1 2004


  • Motion design
  • Motion planning
  • Registration
  • Subdivision algorithm
  • Variational design

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition
  • Computer Graphics and Computer-Aided Design


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