Do I understand correctly that the orientation estimation for the elbow joint involves estimating the pronation/supination of the wrist? Essentially, we need to estimate the rotation of the lower arm around its axis, so around the main axis of the lower arm. (Same for the lower leg part). Is this correct?
Posted by: isarandi @ July 15, 2020, 5:27 p.m.You need to estimate the rotation for the listed set of joints in the global coordinate frames. Essentially this means that you multiply the rotation matrix corresponding to each joint by all the rotation matrices in its parents in the kinematic chain.
Posted by: aymen @ July 17, 2020, 4:13 p.m.I see. As far as I understand, this does involve the supination/pronation of the wrist. Quite challenging, but that's okay :)
Posted by: isarandi @ July 17, 2020, 4:16 p.m.