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 the 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 as a hard constraint and the motion capture data as a soft constraint to determine a plurality of joint angle trajectories for a corresponding plurality of joints of the robot.