Online acquisition and visualization of motion primitives for humanoid robots. - Dana Kulic; Hirotaka Imagawa; Yoshihiko Nakamura (RO-MAN, 2009)

What do you expect from a robot that tells your future? The crystal ball. - Wataru Takano; Hirotaka Imagawa; Dana Kulic; Yoshihiko Nakamura (IROS, 2010)

Prediction of human behaviors in the future through symbolic inference. - Wataru Takano; Hirotaka Imagawa; Yoshihiko Nakamura (ICRA, 2011)

Spatio-temporal structure of human motion primitives and its application to motion prediction. - Wataru Takano; Hirotaka Imagawa; Yoshihiko Nakamura (Robotics Auton. Syst., 2016)