@conference {2336, title = {Kinematic Analysis and Design Considerations for Optimal Base Frame Arrangement of Humanoid Shoulders}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, pages = {2710 - 2715}, address = {Seattle, USA, 25 - 30 May}, keywords = {Robotics}, doi = {10.1109/ICRA.2015.7139566}, author = {M. Bagheri and A. Ajoudani and J. Lee and D. G. Caldwell and N G Tsagarakis} }