They're also known as Frenet frames, or Bishop frames, if you're going to dig into them in the future.

Thanks for the tip.

I thought I recognized your handle! You wrote the "A Primer on Bézier Curves" article. Thanks for providing that amazing resource, it's been invaluable during my learning process.

I did indeed, always nice to hear folks enjoyed it!

Frenet frames are simply any orthonormal frame. A rotation-minimizing frame is a frame that has minimal twist from some previous frame.

What they are, and what people call things, are two different things though. Ran into lots of folks calling them Frenet frames while looking this up myself several years ago.