Pseudo Direct and Inverse Optimal Control based on Motion Synthesis using FPCA

This paper presents a method to estimate cost weights of cost functions and multiple joint motion time-series values of humanoid robots easily, using functional principal component analysis (FPCA) instead of direct optimal control (DOC) and inverse optimal control (IOC). Each given object’s cost weight exemplar can be converted into a point in the FPC space by applying FPCA. Cost weight and the FP...