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https://doi.org/10.1109/iros.2...
Article . 2018 . Peer-reviewed
Data sources: Crossref
https://dx.doi.org/10.48550/ar...
Article . 2018
License: arXiv Non-Exclusive Distribution
Data sources: Datacite
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Fused Angles and the Deficiencies of Euler Angles

Authors: Sven Behnke; Philipp Allgeuer;

Fused Angles and the Deficiencies of Euler Angles

Abstract

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.

International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018

Related Organizations
Keywords

FOS: Computer and information sciences, Computer Science - Robotics, Robotics (cs.RO)

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citations
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
8
Top 10%
Average
Average
Green