Found it on maria ozawa's blog page.
Japan Robo Dance | Maria Ozawa
YouTube - HRP-4C Dance 1/2
The Digital Content Expo in Tokyo is the place to go see where advances in digital content have led, what products and art people are now creating digitally and to generally get a taste of where things are going in industries as diverse as anime, gaming, medicine, biotech and enterprise.
By all reports, it wasn’t a great event this year but one thing that did stand out to visitors was this, a choreographed dance routine between AIST’s feminine HRP-4C robot and four (human) girls.
The National Institute of Advanced Industrial Science and Technology has developed the software Choreonoid enabling a robot to make complicated moves like dancing by moving computer graphics of the robot on a display by a mouse before the action.
As the Pink Tentacle blog lays out, the performance, called “Dance Robot LIVE! is the result of a year of R&D efforts to teach the android to dance. Behind the routine was famous dancer/choreographer SAM-san (a member of the popular music group TRF and someone who has worked with the lieks of SMAP and BoA), and the lip-synced song is a Vocaloid version of “Deatta Koro no Yō ni” by Kaori Mochida (Every Little Thing).