1. A computer-implemented method for controlling the pose of a physical articulated system, the method comprising: observing a plurality of task descriptors for a position and an orientation of members of a source system comprising human features observed from images of human motion; generating a position error between a computed position and the position of the members of the source system; generating an orientation error between a computed orientation and the orientation of the members of the source system; generating, using a non-transitory computer readable storage medium, a control command according to a control law based on the position error, orientation error, and kinematic constraints; constructing, using the non-transitory computer readable storage medium, a weighted matrix based on the generated control command and the kinematic constraints of members of the physical articulated system; generating, using the non-transitory computer readable storage medium, joint variables for positioning and orienting the members of the physical articulated system while enforcing the kinematic constraints of the members by applying the weighted matrix to the observed task descriptors, the number of task descriptors being less than a degrees of freedom of movement of the source system; and storing the generated joint variables in the non-transitory computer readable storage medium.