Smooth interpolation of orientations with angular velocity constraints using quaternions
Alan H. Barr, Bena Currin, Steven Gabriel, John F. Hughes
Computer Graphics (Proceedings of SIGGRAPH 92), July 1992, pp. 313--320.
BibTeX format:
@inproceedings{Barr:1992:SIO,
  author = {Alan H. Barr and Bena Currin and Steven Gabriel and John F. Hughes},
  title = {Smooth interpolation of orientations with angular velocity constraints using quaternions},
  booktitle = {Computer Graphics (Proceedings of SIGGRAPH 92)},
  pages = {313--320},
  month = jul,
  year = {1992},
}
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