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Kinematics design and human motion transfer for a humanoid service robot arm

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dc.contributor.author Dube, C
dc.contributor.author Tapson, J
dc.date.accessioned 2009-11-20T10:42:55Z
dc.date.available 2009-11-20T10:42:55Z
dc.date.issued 2009-11
dc.identifier.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 en
dc.identifier.isbn 9780620447218
dc.identifier.uri http://hdl.handle.net/10204/3767
dc.description 3rd Robotics and Mechatronics Symposium (ROBMECH 2009). Pretoria, South Africa, 8-10 November 2009 en
dc.description.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. en
dc.language.iso en en
dc.publisher Robotics and Mechatronics Symposium en
dc.subject Visual motion capture en
dc.subject Human motion transfer en
dc.subject Kinematics en
dc.subject Humanoid en
dc.subject Service robot en
dc.subject Degree of freedom en
dc.subject DOF en
dc.subject Robotics en
dc.subject Mechatronics en
dc.subject Robot arm en
dc.title Kinematics design and human motion transfer for a humanoid service robot arm en
dc.type Conference Presentation en
dc.identifier.apacitation Dube, C., & Tapson, J. (2009). Kinematics design and human motion transfer for a humanoid service robot arm. Robotics and Mechatronics Symposium. http://hdl.handle.net/10204/3767 en_ZA
dc.identifier.chicagocitation Dube, C, and J Tapson. "Kinematics design and human motion transfer for a humanoid service robot arm." (2009): http://hdl.handle.net/10204/3767 en_ZA
dc.identifier.vancouvercitation Dube 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 . en_ZA
dc.identifier.ris 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 - en_ZA


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