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This paper describes the development of a system for facilitating humanoid robots to acquire sequence of movements by motion description and dialogue. The unique feature of our system is that we define a descriptive language and framework that allows the specification of humanoid motions and the representation of motor skills. We subsequently developed and tested a virtual reality simulation system that can execute the motion descriptive language. We then extended the system to allow humanoiddoi:10.12720/ijoee.1.2.86-91 fatcat:nuqyfzkf2rczbppup5m2jaxh2u