The iCub robot is used in the experiment, which is an open-source humanoid robot resulting from the European project RobotCub.
A set of motion sensors are used to record the user's gestures by collecting joint angle trajectories of the upper-body torso. While demonstrating the dancing movements through the motion sensors, the motion is simultaneously reproduced on the iCub. After having observed roughly three periods of the movement, the robot learns and reproduces a model of the cyclic motion.

The aims of this experiment are to show that: (1) the proposed approach can be used to learn periodic motion containing crossings (e.g. such as in a "8" figure); (2) a set of partial demonstration can be used to learn the motion; and (3) the algorithm can efficiently handle bimanual movements in joint angle space.

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