A crew transfer system for transferring personnel from a vessel to a stationary platform, such as an oil rig, is disclosed. In the illustrative embodiment, the system includes a ramp that is coupled to the vessel in such a way as to permit one translational and three rotational degrees of freedom at the vessel-end of the ramp. When the ramp couples to the stationary platform, the coupling permits no translational and only two rotational degrees of freedom.