Marco Antonelli Fabio Dalla Libera Emanuele Menegatti Takashi Minato Hiroshi Ishiguro Intuitive Humanoid Motion Generation Joining User-Defined Key-Frames and Automatic Learning. 13-24 2008 RoboCup http://dx.doi.org/10.1007/978-3-642-02921-9_2 conf/robocup/2008 db/conf/robocup/robocup2008.html#AntonelliLMMI08