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Future humanoid robots will be expected to carry out a wide range of tasks for which they had not been originally equipped by learning new skills and adapting to their environment. A crucial requirement towards that goal is to be able to take advantage of external elements as tools to perform tasks for which their own manipulators are insufficient; the ability to autonomously learn how to use tools...
Tools can afford similar functionality if they share some common geometrical features. Moreover, the effect that can be achieved with a tool depends as much on the action performed as on the way in which it is grasped. In the current paper we present a two step model for learning and predicting tool affordances which specifically tackles these issues. In the first place, we introduce Oriented Multi-Scale...
We address the problem of real-time gesture recognition, and we prove that our system can be used in real scenarios presenting an original memory game; the object of the game is to perform the longest sequence of gestures that it is possible to remember. We explore the human-robot interaction field, letting the player confront a humanoid robot, iCub. Our main contribution is two-fold: on one hand,...
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