Uploaded August 2023 | Updated September 2026, 18 hours ago
This video shows a benchmark of three trajectory generation approaches for quaternions. The state-of-the-art methods SQUAD and SPB are modified such that they generate C2-continuous and zero-clamped trajectory profiles. We benchmark these two state-of-the-art approaches with our proposed method Spherical Cubic Blends on a FRANKA EMIKA robot.
This video shows a benchmark of three trajectory generation approaches for quaternions. The state-of-the-art methods SQUAD and SPB are modified such that they generate C2-continuous and zero-clamped trajectory profiles. We benchmark these two state-of-the-art approaches with our proposed method Spherical Cubic Blends on a FRANKA EMIKA robot.
