dc.contributor.author |
Dube, C
|
|
dc.contributor.author |
Tapson, J
|
|
dc.date.accessioned |
2009-11-20T10:42:55Z |
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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 -
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en_ZA |