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Torque minimizing splines?

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Does any one know where I can get information about minimizing torque (energy) in splines? I'm looking for the basic explanation and math behind it. For exmaple, I know that cubic splines are used a lot in graphics and interpolation, because they are the most "optimal" when it comes to minimizing torque. I want to know why this is the case, and maths behind it? (Tried a google search, but didn't get much) Any help would be great? Thanks!!

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