融合角とオイラー角の欠点
Fused Angles and the Deficiencies of Euler Angles
二足歩行ロボットのバランス制御向けに提案された融合角をオイラー角と比較し、特異点の位置やパラメータ感度、相互独立性、軸対称性の観点から融合角の優位性を明らかにした論文。
著者: Philipp Allgeuer, Sven Behnke
分類: cs.RO
原文アブストラクト
Just like the well-established Euler angles representation, fused angles are a convenient parameterisation for rotations in three-dimensional Euclidean space. They were developed in the context of balancing bodies, most specifically walking bipedal robots, but have since found wider application due to their useful properties. A comparative analysis between fused angles and Euler angles is presented in this paper, delineating the specific differences between the two representations that make fused angles more suitable for representing orientations in balance-related scenarios. Aspects of comparison include the locations of the singularities, the associated parameter sensitivities, the level of mutual independence of the parameters, and the axisymmetry of the parameters.
