3D kinematics using dual quaternions: theory and applications in neuroscience
In behavioral neuroscience, many experiments are developed in 1 or 2 spatialdimensions, but when scientists tackle problems in 3-dimensions (3D), theyoften face problems or new challenges. Results obtained for lower dimensionsare not always extendable in 3D. In motor planning of eye, gaze or armmove...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2013-02-01
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| Series: | Frontiers in Behavioral Neuroscience |
| Subjects: | |
| Online Access: | http://journal.frontiersin.org/Journal/10.3389/fnbeh.2013.00007/full |
| _version_ | 1818951867156135936 |
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| author | Guillaume eLeclercq Guillaume eLeclercq Philippe eLefèvre Philippe eLefèvre Gunnar eBlohm Gunnar eBlohm |
| author_facet | Guillaume eLeclercq Guillaume eLeclercq Philippe eLefèvre Philippe eLefèvre Gunnar eBlohm Gunnar eBlohm |
| author_sort | Guillaume eLeclercq |
| collection | DOAJ |
| description | In behavioral neuroscience, many experiments are developed in 1 or 2 spatialdimensions, but when scientists tackle problems in 3-dimensions (3D), theyoften face problems or new challenges. Results obtained for lower dimensionsare not always extendable in 3D. In motor planning of eye, gaze or armmovements, or sensorimotor transformation problems, the 3D kinematics ofexternal (stimuli) or internal (body parts) must often be considered: howto describe the 3D position and orientation of these objects and link themtogether? We describe how motors (dual quaternions) provide a convenientway to describe the 3D kinematics for position only (point transformation) orfor combined position and orientation (through line transformation), easilymodeling rotations, translations or screw motions or combinations of these.We also derive expressions for the velocities of points and lines as well as thetransformation velocities. Then, we apply these tools to a motor planningtask for manual tracking and to the modeling of forward and inverse kinematicsof a 7dof 3-link arm to show the interest of dual quaternions as a toolto build models for these kinds of applications. |
| first_indexed | 2024-12-20T09:41:18Z |
| format | Article |
| id | doaj.art-150f1bfd1fd6408cb37e192837e33760 |
| institution | Directory Open Access Journal |
| issn | 1662-5153 |
| language | English |
| last_indexed | 2024-12-20T09:41:18Z |
| publishDate | 2013-02-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Behavioral Neuroscience |
| spelling | doaj.art-150f1bfd1fd6408cb37e192837e337602022-12-21T19:44:53ZengFrontiers Media S.A.Frontiers in Behavioral Neuroscience1662-51532013-02-01710.3389/fnbeh.2013.00007319713D kinematics using dual quaternions: theory and applications in neuroscienceGuillaume eLeclercq0Guillaume eLeclercq1Philippe eLefèvre2Philippe eLefèvre3Gunnar eBlohm4Gunnar eBlohm5Université catholique de LouvainUniversité catholique de LouvainUniversité catholique de LouvainUniversité catholique de LouvainQueen's UniversityCanadian Action and Perception Network (CAPnet)In behavioral neuroscience, many experiments are developed in 1 or 2 spatialdimensions, but when scientists tackle problems in 3-dimensions (3D), theyoften face problems or new challenges. Results obtained for lower dimensionsare not always extendable in 3D. In motor planning of eye, gaze or armmovements, or sensorimotor transformation problems, the 3D kinematics ofexternal (stimuli) or internal (body parts) must often be considered: howto describe the 3D position and orientation of these objects and link themtogether? We describe how motors (dual quaternions) provide a convenientway to describe the 3D kinematics for position only (point transformation) orfor combined position and orientation (through line transformation), easilymodeling rotations, translations or screw motions or combinations of these.We also derive expressions for the velocities of points and lines as well as thetransformation velocities. Then, we apply these tools to a motor planningtask for manual tracking and to the modeling of forward and inverse kinematicsof a 7dof 3-link arm to show the interest of dual quaternions as a toolto build models for these kinds of applications.http://journal.frontiersin.org/Journal/10.3389/fnbeh.2013.00007/fullmotorSensorimotor transformationreference framegeometric algebraforward kinematicsinverse kinematics |
| spellingShingle | Guillaume eLeclercq Guillaume eLeclercq Philippe eLefèvre Philippe eLefèvre Gunnar eBlohm Gunnar eBlohm 3D kinematics using dual quaternions: theory and applications in neuroscience Frontiers in Behavioral Neuroscience motor Sensorimotor transformation reference frame geometric algebra forward kinematics inverse kinematics |
| title | 3D kinematics using dual quaternions: theory and applications in neuroscience |
| title_full | 3D kinematics using dual quaternions: theory and applications in neuroscience |
| title_fullStr | 3D kinematics using dual quaternions: theory and applications in neuroscience |
| title_full_unstemmed | 3D kinematics using dual quaternions: theory and applications in neuroscience |
| title_short | 3D kinematics using dual quaternions: theory and applications in neuroscience |
| title_sort | 3d kinematics using dual quaternions theory and applications in neuroscience |
| topic | motor Sensorimotor transformation reference frame geometric algebra forward kinematics inverse kinematics |
| url | http://journal.frontiersin.org/Journal/10.3389/fnbeh.2013.00007/full |
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