{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,4]],"date-time":"2026-07-04T01:28:29Z","timestamp":1783128509510,"version":"3.54.6"},"reference-count":23,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2007,8,1]],"date-time":"2007-08-01T00:00:00Z","timestamp":1185926400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2007,8]]},"abstract":"<jats:p>This paper proposes a framework that achieves the Learning from Observation paradigm for learning dance motions. The framework enables a humanoid robot to imitate dance motions captured from human demonstrations. This study especially focuses on leg motions to achieve a novel attempt in which a biped-type robot imitates not only upper body motions but also leg motions including steps. Body differences between the robot and the original dancer make the problem difficult because the differences prevent the robot from straightforwardly following the original motions and they also change dynamic body balance. We propose leg task models, which play a key role in solving the problem. Low-level tasks in leg motion are modelled so that they clearly provide essential information required for keeping dynamic stability and important motion characteristics. The models divide the problem of adapting motions into the problem of recognizing a sequence of the tasks and the problem of executing the task sequence. We have developed a method for recognizing the tasks from captured motion data and a method for generating the motions of the tasks that can be executed by existing robots including HRP-2. HRP-2 successfully performed the generated motions, which imitated a traditional folk dance performed by human dancers.<\/jats:p>","DOI":"10.1177\/0278364907079430","type":"journal-article","created":{"date-parts":[[2007,7,20]],"date-time":"2007-07-20T06:32:56Z","timestamp":1184913176000},"page":"829-844","source":"Crossref","is-referenced-by-count":124,"title":["Learning from Observation Paradigm: Leg Task Models for Enabling a Biped                 Humanoid Robot to Imitate Human Dances"],"prefix":"10.1177","volume":"26","author":[{"given":"Shin'ichiro","family":"Nakaoka","sequence":"first","affiliation":[{"name":"Institute of Industrial Science, University of Tokyo 4-6-1 Komaba,                         Meguro-ku, Tokyo, 153-8505, Japan -tokyo.ac.jp"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Atsushi","family":"Nakazawa","sequence":"additional","affiliation":[{"name":"Cybermedia Center, Osaka University 1-32 Machikaneyama, Toyonaka, Osaka,                         560-0043, Japan -u.ac.jp"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fumio","family":"Kanehiro","sequence":"additional","affiliation":[{"name":"Intelligent Systems Research Institute National Institute of Advanced                         Industrial Science and Technology 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kenji","family":"Kaneko","sequence":"additional","affiliation":[{"name":"Intelligent Systems Research Institute National Institute of Advanced                         Industrial Science and Technology 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mitsuharu","family":"Morisawa","sequence":"additional","affiliation":[{"name":"Intelligent Systems Research Institute National Institute of Advanced                         Industrial Science and Technology 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568,                         Japan, {f-kanehiro, k.kaneko, m.morisawa, hiro.hirukawa}@aist.go.jp"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hirohisa","family":"Hirukawa","sequence":"additional","affiliation":[{"name":"Intelligent Systems Research Institute National Institute of Advanced                         Industrial Science and Technology 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568,                         Japan, {f-kanehiro, k.kaneko, m.morisawa, hiro.hirukawa}@aist.go.jp"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Katsushi","family":"Ikeuchi","sequence":"additional","affiliation":[{"name":"Institute of Industrial Science, University of Tokyo 4-6-1 Komaba,                         Meguro-ku, Tokyo, 153-8505, Japan -tokyo.ac.jpn                         {f-kanehiro, k.kaneko, m.morisawa, hiro.hirukawa}@aist.go.jp"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2007,8,1]]},"reference":[{"key":"atypb1","volume-title":"Proceedings of the 2006 Symposium on Interactive 3D Graphics and Games","author":"Ikemoto, L."},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/70.294211"},{"key":"atypb3","volume-title":"Proceedings of Fourth International Workshop on Algorithmic Foundations of Robotics","author":"Kagami, S."},{"key":"atypb4","volume-title":"Proceedings of the 2003 IEEE International Conference on Robotics and Automation","author":"Kajita, S."},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904041324"},{"key":"atypb6","volume-title":"Proceedings of the 2004 IEEE International Conference on Robotics and Automation","author":"Kaneko, K."},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/70.554349"},{"key":"atypb8","volume-title":"Proceedings of the 2003 IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Kosuge, K."},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1109\/70.338535"},{"key":"atypb10","volume-title":"Proceedings of the 2003 IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Kuroki, Y."},{"key":"atypb11","volume-title":"Proceedings of the 2003 IEEE International Conference on Robotics and Automation","author":"Kuroki, Y."},{"key":"atypb12","volume-title":"Proceedings of the Eighth International Conference on Virtual Systems and MultiMedia","author":"Nakazawa, A."},{"key":"atypb13","volume-title":"Proceedings of the 2002 IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Nishiwaki, K."},{"key":"atypb14","volume-title":"Proceedings of the 2002 IEEE International Conference on Robotics and Automation","author":"Pollard, N.S."},{"key":"atypb15","volume-title":"Proceedings of AAAI and CMU Workshop on Interactive Robotics and Entertainment 2000","author":"Riley, M."},{"key":"atypb16","first-page":"233","volume":"3","author":"Schaal, S.","year":"1999","journal-title":"Cognitive Science"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1145\/502122.502123"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.855988"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.7210\/jrsj.17.268"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-83006-8"},{"key":"atypb21","volume-title":"Proceedings of the 2003 IEEE International Conference on Robotics and Automation","author":"Yamane, K."},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.810579"},{"key":"atypb23","volume-title":"Proceedings of the IEEE-RAS International Conference on Humanoid Robots","author":"Yokoi, K."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907079430","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907079430","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:02Z","timestamp":1777457762000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364907079430"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2007,8]]},"references-count":23,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2007,8]]}},"alternative-id":["10.1177\/0278364907079430"],"URL":"https:\/\/doi.org\/10.1177\/0278364907079430","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2007,8]]}}}