Figure 7.

(A) Describes the task. Analogous to controlling a steering wheel, iCub has to bimanually maneuver the toy crane so that the magnetized tool tip reaches the goal. (B) Shows snapshots of the dual processes of observing the teacher to imitate similar spatio-temporal movements with the toy and then interacting directly with the tool in order to learn the tool Jacobian. (C) Shows the trajectories in the tool and end effector space, when iCub steers the crane toy from the initial position to the goal. (D) Shows temporal evolution of the x and y components of force exerted by right and left hand, to steer the toy crane toward the goal. (E) Shows the tool tip velocity. Note that the tool velocity is symmetric and bell-shaped. (F) Shows the temporal evolution of motor commands/joint angles in the 17 joints of the iCub upper body as iCub steers the crane toy from the initial condition [(G): top panel] to the Goal [(G): Bottom panel]. Observe that based on the motion of the two hands (C), the evolution of joint angles in the right and the left arm are approximately mirror symmetric (F).