Predicting human reaching motion in collaborative tasks using Inverse Optimal Control and iterative re-planning.
Jim MainpriceRafi HayneDmitry BerensonPublished in: ICRA (2015)
Keyphrases
- optimal control
- assembly systems
- motion planning
- dynamic programming
- control problems
- feedback control
- control strategy
- risk sensitive
- class of nonlinear systems
- brownian motion
- motion capture data
- reinforcement learning
- optimal control problems
- human motion
- image sequences
- infinite horizon
- control law
- planning problems
- multistage
- lyapunov function
- degrees of freedom