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There are two functional elements used by humans to understand and perform actions. These elements are: the body schema and the body percept. The first one is a representation of the body that contains information of the body's capabilities. The second one is a snapshot of the body and its relation with the environment at a given instant. These elements interact in order to generate, among other abilities, the ability to imitate. This paper presents an approach to robot imitation based on thesedoi:10.1533/abbi.2004.0043 fatcat:g6asgfk6trhgfipo52kvbktyme