@InProceedings{jue:10j,
  author = 	 {B. J\"uttler and M. Krajnc and E. \v{Z}agar},
  title = 	 {Geometric interpolation by quartic rational spline motions},
  booktitle =    {Advances in Robot Kinematics: Motion in Man and Machine},
  year = 	 {2010},
  editor = 	 {J. Lenar\v{c}i\v{c} and M.M. Stani\v{s}i\v{c}},
  pages =        {377--384},
  publisher = {Springer},
  address = {Dordrecht},
  DOI = {10.1007/978-90-481-9262-5_40}}