Naoto Nakahara Koji Miyazaki Hajime Sakamoto Takashi X. Fujisawa Noriko Nagata Ryohei Nakatsu Dance Motion Control of a Humanoid Robot Based on Real-Time Tempo Tracking from Musical Audio Signals. 36-47 2009 ICEC http://dx.doi.org/10.1007/978-3-642-04052-8_4 conf/iwec/2009 db/conf/iwec/icec2009.html#NakaharaMSFNN09