We have developed an autonomously dancing humanoid, based on the Hitec Robonova platform, that is able to perform sequences of smooth movements in synchrony with music. Our system automatically determines the locations of beats from the acoustic signal of music in real-time, and this information is used to coordinate the motions of the robot, enabling it to perform rudimentary dances. The small ... [Show full abstract] (14 inch-tall) RoboNova serves as a prototype development platform for a much larger and more sophisticated humanoid, the KAIST Hubo, which is capable of more fluid and human-like movements. But by first devel-oping and testing systems and algorithms on the smaller robot, we reduce the risk of damaging the larger and more costly Hubo. Regardless of the humanoid platform, however, it is difficult to synthesize motions that appear expressive and artistic. We developed our prototype dancing humanoid in order to further investigate and, hopefully, quantify some parameters of creative movement.