Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a \emph{whole-body orientation} that (i) depends on system configuration only and not a history of motion, (ii) can be representative of the orientation of the entire system while not being attached to any specific link, and (iii) has a rate of change that approximates total system angular momentum. We relate this orientation coordinate to past work, and discuss and demonstrate, including on hardware, several different uses for it.

翻译：复杂的多体腿式机器人面临复杂的旋转控制挑战。本文提出一种简洁的方法来理解和构建一种**全身方向**，该方向具有以下特性：（i）仅依赖于系统构型，而非运动历史；（ii）可代表整个系统的方向，而不附着于任何特定连杆；（iii）其变化率近似于系统总角动量。我们将此方向坐标与先前工作进行关联，讨论并演示了其多种应用场景，包括在硬件上的实际应用。