1. A method for reproducing a designated action of a human with a robot, comprising: receiving motion capture data and contact force data obtained from a human performing the designated action; approximating, from the contact force data and the motion capture data, a center of mass (CoM) trajectory of the human in performing the designated action; and generating, via one or more processors, a planned robot action for emulating the designated action, wherein generating the planned robot action comprises solving an inverse kinematics problem having the approximated human CoM trajectory and the motion capture data as constraints to determine a plurality of joint angle trajectories for a corresponding plurality of joints on the robot.