Add to ORKGThe goal of this thesis is to capture and examine human movements throughout the set of defined exercises and analyze the movements. Furthermore, to transfer these movements from the task space to the joint space using an imitation algorithm, and then map the movements to a humanoid robot. For that purpose, a series of exercises aimed at enhancing the upper body's gross motor skills of children were created with the assistance of kinesiology specialists. An OptiTrack system and an upper-body suit were utilized to capture human movements using markers placed on the suit. The humanoid robot Pepper was used for the implementation of the exercises. The thesis is organized as follows: initially, an introduction is provided, explaining the though...