融合角：バランスのための身体姿勢表現
Fused Angles: A Representation of Body Orientation for Balance
バランスをとる身体の姿勢を表すために、新しい回転パラメータ化「融合角」を数学的・幾何学的に定義し、その性質や既存表現との関係を調べた論文。
著者: Philipp Allgeuer, Sven Behnke
分類: cs.RO
原文アブストラクト
The parameterisation of rotations in three dimensional Euclidean space is an area of applied mathematics that has long been studied, dating back to the original works of Euler in the 18th century. As such, many ways of parameterising a rotation have been developed over the years. Motivated by the task of representing the orientation of a balancing body, the fused angles parameterisation is developed and introduced in this paper. This novel representation is carefully defined both mathematically and geometrically, and thoroughly investigated in terms of the properties it possesses, and how it relates to other existing representations. A second intermediate representation, tilt angles, is also introduced as a natural consequence thereof.
