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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/3767

Title: Kinematics design and human motion transfer for a humanoid service robot arm
Authors: Dube, C
Tapson, J
Keywords: Visual motion capture
Human motion transfer
Kinematics
Humanoid
Service robot
Degree of freedom
DOF
Robotics
Mechatronics
Robot arm
Issue Date: Nov-2009
Publisher: Robotics and Mechatronics Symposium
Citation: Dube, C and Tapson, J. 2009. Kinematics design and human motion transfer for a humanoid service robot arm. 3rd Robotics and Mechatronics Symposium (ROBMECH 2009). Pretoria, South Africa, 8-10 November 2009, pp 6
Abstract: This paper focuses firstly, on the kinematics structure required for a humanoid service robot arm and secondly, on transferring human motion obtained from visual motion capture to the humanoid arm. The kinematics structure of a ten Degree of Freedom (DOF) humanoid arm which has a two DOF shoulder girdle and has a four DOF glenohumeral joint is presented. A method of obtaining the sternum position, which forms the movement reference frame for the ten DOF arm, is formulated from human motion capture data. The method is based on clavicle and spine workspaces. Results show that the sternum formulation corresponds well to the actual sternum position.
Description: 3rd Robotics and Mechatronics Symposium (ROBMECH 2009). Pretoria, South Africa, 8-10 November 2009
URI: http://hdl.handle.net/10204/3767
ISBN: 9780620447218
Appears in Collections:Advanced mathematical modelling and simulation
Mobile intelligent autonomous systems
General science, engineering & technology

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