@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}
}
