Dube, CTapson, J2009-11-202009-11-202009-11Dube, 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 69780620447218http://hdl.handle.net/10204/37673rd Robotics and Mechatronics Symposium (ROBMECH 2009). Pretoria, South Africa, 8-10 November 2009This 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.enVisual motion captureHuman motion transferKinematicsHumanoidService robotDegree of freedomDOFRoboticsMechatronicsRobot armConference PresentationDube, C., & Tapson, J. (2009). Kinematics design and human motion transfer for a humanoid service robot arm. Robotics and Mechatronics Symposium. http://hdl.handle.net/10204/3767Dube, C, and J Tapson. "Kinematics design and human motion transfer for a humanoid service robot arm." (2009): http://hdl.handle.net/10204/3767Dube C, Tapson J, Kinematics design and human motion transfer for a humanoid service robot arm; Robotics and Mechatronics Symposium; 2009. http://hdl.handle.net/10204/3767 .TY - Conference Presentation AU - Dube, C AU - Tapson, J AB - 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. DA - 2009-11 DB - ResearchSpace DP - CSIR KW - Visual motion capture KW - Human motion transfer KW - Kinematics KW - Humanoid KW - Service robot KW - Degree of freedom KW - DOF KW - Robotics KW - Mechatronics KW - Robot arm LK - https://researchspace.csir.co.za PY - 2009 SM - 9780620447218 T1 - Kinematics design and human motion transfer for a humanoid service robot arm TI - Kinematics design and human motion transfer for a humanoid service robot arm UR - http://hdl.handle.net/10204/3767 ER -