The interpolation of rotations and its application to finite element models of geometrically exact rods

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Multi-body dynamics simulation of geometrically exact Cosserat rods (2011, background): “A general problem in geometrically nonlinear FE is the proper interpolation of the finite rotations [7, 20, 52] such that objectivity of the strain measures is maintained, i.”
A comparison of finite elements for nonlinear beams: the absolute nodal coordinate and geometrically exact formulations (2008, background): “This issue is directly related with the presence of rotational degrees of freedom in the theory, and its discretization in the finite element models [26,30].”
A frame-invariant scheme for the geometrically exact beam using rotation vector parametrization (2009, methodology): “The formulation of [29] based on local rotation is referred to as the invariant formulation .I n this context, a review of interpolation of rotation variables is provided by Romero [ 30 ].”
Director‐based beam finite elements relying on the geometrically exact beam theory formulated in skew coordinates (2014, background): “The director interpolation has originally been employed in the finite element discretization of the Simo-Reissner beam theory in Romero & Armero [7] and Betsch & Steinmann [8, 9].”