Human Motion Imitation using Optimal Control with Time-Varying Weights
Shouyo Ishida,Tatsuki Harada,Pamela Carreno-Medrano,Dana Kulić,Gentiane Venture,Shouyo Ishida,Tatsuki Harada,Pamela Carreno-Medrano,Dana Kulić,Gentiane Venture
Research in biomechanics hypothesizes that human motion is optimal with respect to an unknown cost function that varies depending on the action and/or task. This unknown cost function is often approximated as the weighted sum of a set of features or basis cost functions. As a person performs a sequence of actions, the weights associated to each of these basis functions are likely to vary over time...
