Title

Dual quaternions as a tool for rigid body motion analysis: a tutorial with an application to biomechanics

Journal title

Archive of Mechanical Engineering

Yearbook

2010

Volume

vol. 57

Issue

No 2

Authors

Pennestrì, Ettore ; Valentini, Ettore

Keywords

biomechanics ; dual quaternion interpolation ; human motion

Divisions of PAS

Nauki Techniczne

Coverage

187-205

Publisher

Polish Academy of Sciences, Committee on Machine Building

Date

2010.10.18

Type

Artykuły / Articles

Identifier

DOI: 10.2478/v10180-010-0010-2 ; ISSN 0004-0738, e-ISSN 2300-1895

Source

Archive of Mechanical Engineering; 2010; vol. 57; No 2; 187-205

References

Hiller M. (1984), A unified representation of spatial displacements, Mechanism and Machine Theory, 19, 477. ; Dai J. (2006), An historical review of the theoretical development of rigid body displacements from Rodrigues parameters to the finite twist, Mechanism and Machine Theory, 41, 41. ; Chèze L. (1995), Three-Dimensional Analysis of Human Movement, chapter Modeling Human Body Motions by the Techniques Known to Robotics, 177. ; Zatsiorsky V. (1998), Kinematics of Human Motion. ; McCarthy M. (1990), Introduction to theoretical kinematics. ; Jüttler B. (1994), Visualization of moving objects using dual quaternion curves, Computers & Graphics, 18, 3, 315. ; McAulay A. (1898), Octonions - A Development of Clifford's Bi-Quaternions. ; A. T. Yang, Application of Quaternion Algebra and Dual Numbers to the Analysis of Spatial Mechanisms. PhD thesis, Columbia University, 1963. ; Pennestrì E. (2007), Linear algebra and numerical algorithms using dual numbers, Multibody System Dynamics, 18, 323. ; Pennestrì E. (2008), Multibody Dynamics Computational Methods and Applications, 12. ; Etzel K. (1996), Spatial motion interpolation in an image space of so(4), null. ; L. Kavan, and S. Collins, and C. O'Sullivan, and J. Zara, Dual Quaternions for Rigid Transformation Blending. Technical Report TCD-CS-2006-46, The University of Dublin, Trinity College, 2006. ; Kavan L. (2008), Geometric Skinning with Approximate Dual Quaternion Blending, ACM Transaction on Graphics, 27, 105. ; Teu K. (2006), Estimation of the axis of a screw motion from noisy data—A new method based on Plücker lines, Journal of Biomechanics, 39, 2857. ; Page A. (2007), Experimental determination of instantaneous screw axis in human motion. Error analysis, Mechanism and Machine Theory Mechanism and Machine Theory, 42, 429, doi.org/10.1016/j.mechmachtheory.2006.04.001 ; Cheng H. (1993), Computation of dual numbers in the extended finite dual plane, null, 73. ; Cheng H. (1994), Programming with dual numbers and its applications in mechanisms design, Engineering with Computers, 10, 4, 212. ; Wohlhart K. (1995), Computational Kinematics 93-102.