Goal Set Inverse Optimal Control and Iterative Re-planning for Predicting Human Reaching Motions in Shared Workspaces.

To enable safe and efficient human-robot collaboration in shared workspaces, it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very challenging, we argue that single-arm reaching motions for known tasks in collaborative settings (which are especially relevant for manufacturing) are indeed predictable...