Figure 8.

Different steps of the iCub during the execution of a shared plan for a musical came. (A) Initial configuration of 3 elements. The robot places the object 1 (white and yellow) to the location North. (B) Human takes the object and places it on the location West. (C) The robot places the object 2 (red) to the location North, for the human, who then puts it to the location East (not displayed). (D) The robot places the object 3 (blue) to the location North. (E) The Human takes the object 3 and puts it to the location South. (F) Final internal representation of the objects on the ReacTable (a musical table) to produce the song as the joint goal of the shared plan. From Pointeau et al. (2014).