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This paper presents an approach to motion analysis for robotics in which a quantitative definition of "style of motion" is used to classify movements. In particular, we present a method for generating a "best match" signal for empirical data via a two stage optimal control formulation. The first stage consists of the generation of trajectories that mimic empirical data. In the second stage, an inverse problem is solved in order to obtain the "stylistic parameters" that best recreate thedoi:10.1109/iccps.2014.6843713 dblp:conf/iccps/LaViersE14 fatcat:aqgzjnbhpfbaxkcno6i5jo66tm