A Kendama learning robot based on a dynamic optimization theory

A general theory of movement pattern perception based on a dynamic optimization theory can be used for motion capture and learning by watching in robotics. We exemplify our methods for the game of Kendama, executed by the SARCOS Dextrous Slave Arm, which has exactly the same kinematic structure as a human arm. Three ingredients have to be integrated for the successful execution of this task. The ingredients were (1) to extract via-points from a human movement trajectory using a forward-inverse relaxation model, (2) to treat via-points as a control variable while reconstructing the desired trajectory from all the via-points, and (3) to modify the via-points for successful execution.