Yasuo Kuniyoshi Gordon Cheng Akihiko Nagakubo ETL-Humanoid: A Research Vehicle for Open-Ended Action Imitation. 67-82 2001 ISRR http://dx.doi.org/10.1007/3-540-36460-9_5 conf/isrr/2001 db/conf/isrr/isrr2001.html#KuniyoshiCN01