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. Author manuscript; available in PMC: 2017 Apr 1.
Published in final edited form as: IEEE Trans Robot. 2016 Mar 10;32(2):327–338. doi: 10.1109/TRO.2016.2522433

Fig. 8.

Fig. 8

Schematic representation of the global frame, EPM frame, and capsule frame. The capsule orientation angles [α, β, γ] are shown with respect the global frame.