When moving along 3D curves, one may require local coordinate frames for visited points, such as for animating virtual cameras, controlling robotic motion, or constructing sweep surfaces. Often, consecutive coordinate frames should be similar, avoiding sharp twists. Previous work achieved this goal by using various methods to approximate rotation minimizing frames (RMFs) with respect to a curve's tangent. In this work, we use Householder transformations to construct preliminary tangent-aligned coordinate frames and ...