Fig. 4
From: Inverse optimal control with time-varying objectives: application to human jumping movement analysis
Example joint trajectories for a jump to a target, showing 6 of the 14 total DoFs (top), as well as the corresponding recovered IOC weights (bottom). Each frame consists of normalised recovered cost term weights, identifying the prioritised motor control tasks of the jumper throughout the movement. Takeoff and landing frames are marked with vertical black lines at 1.0 and 1.45 s, respectively. Note that this figure shows the weights of a single trajectory, while Figs. 5, 6, and 7 show averaged weights over several trajectories. The discretisation observed here is due to the window stride size.
