Przemyslaw Dobrowolski

Learn More
The swing-twist decomposition is a standard routine in motion planning for humanoid limbs. In this paper the decomposition formulas are derived and discussed in terms of Clifford algebra. With the decomposition one can express an arbitrary spinor as a product of a twist-free spinor and a swingfree spinor (or vice-versa) in 3-dimensional Euclidean space. It(More)
This study investigates the exact geometry of the configuration space in three-dimensional rotational motion planning. A parameterization of configuration space obstacles is derived for a given triangulated or ballapproximated scene with an object rotating around a given point. The results obtained are an important step towards a complete description of the(More)
  • 1