Figure A5. Robot imitation of human upper-body motion (left, human motion; right, robot motion) and result graph of each motion with the manual measurement dataset and inverse kinematics dataset, trained for 15,000 epochs: (a–c) upper-body motion shape (walking-jumping-greeting), (d–f) upper-body signal answer with inverse kinematics, (g–i) upper-body signal prediction with inverse kinematics, (j–l) upper-body signal answer with manual measurement, and (m–o) upper-body signal prediction with manual measurement. The x-axis represents time, and the y-axis represents the angle.