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In this work, we propose a system that has the ability to reproduce imitated motions of human during continuous and online observation with a humanoid robot. In order to achieve this goal, the problems for imitation have to be solved. In this paper, we treat two main issues. One is mapping between different kinematic structures and the other is computing humanoid body pose that satisfies the static stability generated from the human motion obtained by visual motion capture of the humanoid. The experimental results based on Webots simulation and subsequent execution by a Darwin-OP humanoid robot show the validity of the proposed system in this paper.