]. R. Adams and L. Bischof, Seeded region growing, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.16, issue.6, pp.641-647, 1994.
DOI : 10.1109/34.295913

]. Adams, C. Breazeal, R. A. Brooks, and B. Scassellati, Humanoid robots: a new kind of tool, IEEE Intelligent Systems, vol.15, issue.4, pp.25-31, 1927.
DOI : 10.1109/5254.867909

]. R. Alami, A. Albu-schaeffer, A. Bicchi, R. Bischoff, R. Chatila et al., Safe and dependable physical human-robot interaction in anthropic domains: State of the art and challenges, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006.
DOI : 10.1109/IROS.2006.6936985

URL : https://hal.archives-ouvertes.fr/hal-01295366

]. A. Angeli, D. Filliat, S. Doncieux, and J. Meyer, Real-time visual loop-closure detection, 2008 IEEE International Conference on Robotics and Automation, p.138, 2008.
DOI : 10.1109/ROBOT.2008.4543475

URL : https://hal.archives-ouvertes.fr/hal-00647371

D. Brenna, S. Argall, M. Chernova, B. Veloso, and . Browning, A survey of robot learning from demonstration, Robot. Auton. Syst, vol.57, issue.6, pp.469-483, 2009.

A. Arsenio, P. Fitzpatrick, C. C. Kemp, and G. Metta, The Whole World in Your Hand : Active and Interactive Segmentation, 2003.

. Atienza, . Atienza, and . Zelinsky, Intuitive Human-Robot Interaction Through Active 3D Gaze Tracking, Proceedings of the International Symposium of Robotics Research, pp.172-181, 2003.
DOI : 10.1007/11008941_19

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.9.8938

A. Bab-hadiashar and N. Gheissari, Range image segmentation using surface selection criterion, IEEE Transactions on Image Processing, vol.15, issue.7, pp.2006-2018, 2006.
DOI : 10.1109/TIP.2006.877064

]. L. Bahl, F. Jelinek, and R. L. Mercer, A maximum likelihood approach to continuous speech recognition. Pattern Analysis and Machine Intelligence, IEEE Transactions, issue.2, pp.179-190, 1983.

C. Bartneck, T. Kanda, O. Mubin, and A. A. Mahmud, Does the Design of a Robot Influence Its Animacy and Perceived Bibliographie, 2009.

]. A. Bicchi and V. Kumar, Robotic grasping and contact: a review, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), pp.348-353, 2000.
DOI : 10.1109/ROBOT.2000.844081

]. A. Billard and K. Dautenhahn, Grounding communication in situated, social robots, Proceedings Towards Intelligent Mobile Robots Conference, p.31, 1997.

D. Cristian-bogdan, H. Ertl, M. Hüttenrauch, A. Göller, K. Green et al., New frontiers in human?robot interaction, pp.185-210, 2011.

]. Bouchard, Hierarchical Part-Based Visual Object Categorization, 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05), pp.710-715, 2005.
DOI : 10.1109/CVPR.2005.174

URL : https://hal.archives-ouvertes.fr/inria-00548513

C. Breazeal, Designing sociable robots, pp.27-33, 2002.

C. Breazeal and L. Aryananda, Recognition of Affective Communicative Intent in Robot-Directed Speech, Autonomous Robots, vol.12, issue.1, pp.83-104, 2002.
DOI : 10.1023/A:1013215010749

C. Breazeal, D. Buchsbaum, J. Gray, D. Gatenby, and B. Blumberg, Learning From and About Others: Towards Using Imitation to Bootstrap the Social Understanding of Others by Robots, Artificial Life, vol.1562, issue.1-2, pp.31-62, 2005.
DOI : 10.1016/S0893-6080(98)00066-5

A. Rodney, C. Brooks, M. Breazeal, B. Marjanovic, M. M. Scassellati et al., The Cog project : Building a humanoid robot, In Lecture Notes in Computer Science, pp.52-87, 1999.

A. G. Brooks, J. Gray, G. Hoffman, A. Lockerd, H. Lee et al., Robot's play, Computers in Entertainment, vol.2, issue.3, pp.10-10, 2004.
DOI : 10.1145/1027154.1027171

]. K. Bumby and K. Dautenhahn, Investigating children's attitudes towards robots : A case study, Proceedings of the Third Cognitive Technology Conference, CT'99, pp.391-410, 1999.

]. M. Cakmak-2009, N. Cakmak, A. L. Depalma, R. Thomaz, and . Arriaga, Effects of social exploration mechanisms on robot learning, RO-MAN 2009, The 18th IEEE International Symposium on Robot and Human Interactive Communication, pp.128-134, 2009.
DOI : 10.1109/ROMAN.2009.5326168

]. S. Calinon, Pda interface for humanoid robots using speech and vision processing, p.24, 2003.

]. S. Calinon, F. Guenter, and A. Billard, On Learning, Representing, and Generalizing a Task in a Humanoid Robot, IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics), vol.37, issue.2, pp.286-298, 2007.
DOI : 10.1109/TSMCB.2006.886952

G. Sylvain-calinon-et-aude and . Billard, What is the Teacher's Role in Robot Programming by Demonstration ? Toward Benchmarks for Improved Learning, Interaction Studies. Special Issue on Psychological Benchmarks in Human-Robot Interaction, vol.8, issue.16, p.144, 2007.

C. and J. Fredslund, I Show You How I Like You-Can You Read it in My Face ?, IEEE Transactions on Systems Man and Cybernetics Part A, vol.31, issue.5, pp.454-459, 2001.

]. A. Cangelosi and T. Riga, An Embodied Model for Sensorimotor Grounding and Grounding Transfer: Experiments With Epigenetic Robots, Cognitive Science, vol.28, issue.4, pp.673-689, 2006.
DOI : 10.1207/s15516709cog0000_72

A. Cangelosi, G. Metta, G. Sagerer, S. Nolfi, C. Nehaniv et al., Integration of Action and Language Knowledge: A Roadmap for Developmental Robotics, IEEE Transactions on Autonomous Mental Development, vol.2, issue.3, pp.167-195, 2010.
DOI : 10.1109/TAMD.2010.2053034

B. Zanuy, J. L. Gas, and . Zarader, Investigation on LP-Residual Representations For Speaker Identification, Pattern Recognition, vol.42, issue.3, pp.487-494, 2009.

]. M. Chetouani, A. Mahdhaoui, and F. , Time-Scale Feature Extractions for Emotional Speech Characterization, Cognitive Computation, vol.73, issue.3, pp.194-201, 2003.
DOI : 10.1007/s12559-009-9016-9

URL : https://hal.archives-ouvertes.fr/hal-00519132

S. Young, C. D. Choi, J. D. Anderson, C. C. Glass, and . Kemp, Laser pointers and a touch screen : intuitive interfaces for autonomous mobile manipulation for the motor impaired, Assets '08 : Proceedings of the 10th international ACM SIGACCESS conference on Computers and accessibility, pp.225-232, 2008.

M. Bibliographie, J. Correa, F. Ruiz-del-solar, and . Bernuy, Face recognition for human-robot interaction applications : A comparative study, pp.473-484, 2009.

]. R. Cowie, E. Douglas-cowie, N. Tsapatsoulis, G. Votsis, S. Kollias et al., Emotion recognition in human-computer interaction, IEEE Signal Processing Magazine, vol.18, issue.1, pp.32-80, 2001.
DOI : 10.1109/79.911197

C. R. Gabriella-csurka, L. Dance, J. Fan, C. Willamowski, and . Bray, Visual categorization with bags of keypoints, Workshop on Statistical Learning in Computer Vision, ECCV, pp.1-22, 2004.

S. Torbjã¸rn, . Dahl, A. Erick, A. Swere, and . Palmer, New frontiers in human?robot interaction, pp.281-303, 2011.

D. Dalgalarrondo and . Filliat, Controlling the autonomy of a reconnaissance robot, SPIE Defense & Security 2004 Symposium. Unmanned Ground Vehicle Technology VI Conference, p.23, 2004.
URL : https://hal.archives-ouvertes.fr/hal-00655171

K. Dautenhahn and A. Billard, Bringing up robots or---the psychology of socially intelligent robots, Proceedings of the third annual conference on Autonomous Agents , AGENTS '99, pp.366-367, 1999.
DOI : 10.1145/301136.301237

]. K. Dautenhahn and A. Billard, Games Children with Autism Can Play with Robota, a Humanoid Robotic Doll, Proceedings of the 1st Cambridge Workshop on Universal Access and Assistive Technology, p.27, 2002.
DOI : 10.1007/978-1-4471-3719-1_18

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.66.7741

]. Dautenhahn, B. Ogden, and T. Quick, From embodied to socially embedded agents ??? Implications for interaction-aware robots, Cognitive Systems Research, vol.3, issue.3, pp.397-428, 2002.
DOI : 10.1016/S1389-0417(02)00050-5

F. Peter, J. Dominey, and . Boucher, Developmental Stages of Perception and Language Acquisition in a Perceptually Grounded Robot, pp.31-32, 2004.

]. P. Dominey, J. Boucher, and T. Inui, Building an adaptive spoken language interface for perceptually grounded human-robot interaction, 4th IEEE/RAS International Conference on Humanoid Robots, 2004., pp.168-183, 2004.
DOI : 10.1109/ICHR.2004.1442121

]. P. Dominey, A. Mallet, and E. Yoshida, Progress in Programming the HRP-2 Humanoid Using Spoken Language, Proceedings 2007 IEEE International Conference on Robotics and Automation, p.33, 2007.
DOI : 10.1109/ROBOT.2007.363642

A. Dominey and . Mallet, REAL-TIME SPOKEN-LANGUAGE PROGRAMMING FOR COOPERATIVE INTERACTION WITH A HUMANOID APPRENTICE, International Journal of Humanoid Robotics, vol.06, issue.02, pp.147-171, 2009.
DOI : 10.1142/S0219843609001711

]. N. Dowson and R. Bowden, Simultaneous Modeling and Tracking (SMAT) of Feature Sets, 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05), pp.99-105, 2005.
DOI : 10.1109/CVPR.2005.324

T. Whyte and . Bailey, Simultaneous localization and mapping: part I, IEEE Robotics & Automation Magazine, vol.13, issue.2, pp.99-110, 2006.
DOI : 10.1109/MRA.2006.1638022

]. B. Edin, L. Ascari, L. Beccai, S. Roccella, J. Cabibihan et al., Bio-inspired sensorization of a biomechatronic robot hand for the grasp-and-lift task, Brain Research Bulletin, vol.75, issue.6, pp.785-795, 2008.
DOI : 10.1016/j.brainresbull.2008.01.017

M. Everingham, L. Van-gool, C. K. Williams, J. Winn, and A. Zisserman, The Pascal Visual Object Classes (VOC) Challenge, International Journal of Computer Vision, vol.73, issue.2, pp.303-338, 2010.
DOI : 10.1007/s11263-009-0275-4

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.167.6629

]. P. Evrard-2009, E. Evrard, S. Gribovskaya, A. Calinon, A. Billard et al., Teaching physical collaborative tasks: object-lifting case study with a humanoid, 2009 9th IEEE-RAS International Conference on Humanoid Robots, pp.399-404, 2007.
DOI : 10.1109/ICHR.2009.5379513

]. D. Filliat and J. Meyer, Map-based navigation in mobile robots:, Cognitive Systems Research, vol.4, issue.4, pp.243-282, 2003.
DOI : 10.1016/S1389-0417(03)00008-1

URL : https://hal.archives-ouvertes.fr/hal-00655473

]. Fong, N. Cabrol, C. Thorpe, and C. Baur, A Personal User Interface for Collaborative Human-Robot Exploration, 6th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (iSAIRAS), p.23, 2001.

]. T. Fong, I. Nourbakhsh, and K. Dautenhahn, A survey of socially interactive robots, Robotics and Autonomous Systems, vol.42, issue.3-4, p.17, 2002.
DOI : 10.1016/S0921-8890(02)00372-X

T. W. Bibliographie, I. Fong, K. Nourbakhsh, and . Dautenhahn, A survey of socially interactive robots, Robotics and Autonomous Systems, issue.2, p.28, 2003.

W. Terrence, C. Fong, B. Thorpe, and . Glass, PdaDriver : A Handheld System for Remote Driving, IEEE International Conference on Advanced Robotics, 1923.

A. Gams and P. Mudry, Gaming controllers for research robots : controlling a humanoid robot using a WIIMOTE, Proc. of the 17th Int. Electrotechnical and Computer Science Conference (ERK08), pp.191-194, 2008.

J. Goetz and S. Kiesler, Cooperation with a robotic assistant, CHI '02 extended abstracts on Human factors in computing systems , CHI '02, pp.578-579, 2002.
DOI : 10.1145/506443.506492

A. Michael, A. C. Goodrich, and . Schultz, Human-robot interaction : a survey, Found. Trends Hum.-Comput. Interact, vol.1, issue.10, pp.203-275, 2007.

A. Green, H. Huttenrauch, and K. S. Eklundh, Applying the Wizard-of-Oz framework to cooperative service discovery and configuration, RO-MAN 2004. 13th IEEE International Workshop on Robot and Human Interactive Communication (IEEE Catalog No.04TH8759), pp.575-580, 2004.
DOI : 10.1109/ROMAN.2004.1374824

G. Cheng and E. Sharlin, Exploring the use of tangible user interfaces for human-robot interaction : a comparative study, CHI '08 : Proceeding of the twenty-sixth annual SIGCHI conference on Human factors in computing systems, pp.121-130, 2008.

G. Cheng and E. Sharlin, Utilizing Physical Objects and Metaphors for Human Robot Interaction, p.25, 2008.

A. Haasch, S. Hohenner, S. Huwel, M. Kleinehagenbrock, S. Lang et al., BIRON ? The Bielefeld Robot Companion, Proc. Int. Workshop on Advances in Service Robotics, pp.27-32, 2004.

]. Hachet, F. Dècle, S. Knödel, and P. Guitton, Navidget for Easy 3D Camera Positioning from 2D Inputs, 2008 IEEE Symposium on 3D User Interfaces, 2008.
DOI : 10.1109/3DUI.2008.4476596

URL : https://hal.archives-ouvertes.fr/hal-00308251

]. S. Haddadin-2010, A. Haddadin, O. Albu-schaffer, G. Eiberger, and . Hirzinger, New insights concerning intrinsic joint elasticity for safety, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2181-2187, 2010.
DOI : 10.1109/IROS.2010.5652037

V. Verena, F. Hafner, and . Kaplan, Learning to Interpret Pointing Gestures : Experiments with four-legged autonomous Robots, Proceedings of the KI2004 Workshop on Neurobotics, pp.225-234, 2004.

V. Hafner, M. Lohse, J. Meyer, Y. Nagai, and B. Wrede, The role of expectations in intuitive human-robot interaction, Proceedings of the 6th international conference on Human-robot interaction, HRI '11, pp.7-8, 2011.
DOI : 10.1145/1957656.1957661

B. Heerink, V. Krose, B. Evers, and . Wielinga, The Influence of a Robot's Social Abilities on Acceptance by Elderly Users, ROMAN 2006, The 15th IEEE International Symposium on Robot and Human Interactive Communication, p.27, 2006.
DOI : 10.1109/ROMAN.2006.314442

H. Hermansky, N. Morgan, A. Bayya, and P. Kohn, RASTA-PLP speech analysis technique, [Proceedings] ICASSP-92: 1992 IEEE International Conference on Acoustics, Speech, and Signal Processing, pp.121-124, 1992.
DOI : 10.1109/ICASSP.1992.225957

P. J. Hinds, T. L. Roberts, and H. Jones, Whose Job Is It Anyway? A Study of Human-Robot Interaction in a Collaborative Task, Human-Computer Interaction, vol.22, issue.6, pp.151-181, 2004.
DOI : 10.1037//0021-9010.77.3.353

H. Huttenrauch and M. Norman, PocketCERO ? mobile interfaces for service robots, Proceedings of the Mobile HCI, International Workshop on Human Computer Interaction with Mobile Devices, p.24, 2001.

K. Huttenrauch and . Eklundh, Fetch-and-carry with CERO: observations from a long-term user study with a service robot, Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication, pp.158-163, 2002.
DOI : 10.1109/ROMAN.2002.1045615

T. Hiroshi-ishiguro, M. Ono, T. Imai, T. Maeda, R. Kanda et al., Robovie: an interactive humanoid robot, Industrial Robot: An International Journal, vol.28, issue.6, pp.498-504, 2001.
DOI : 10.1108/01439910110410051

]. Ishii, S. Zhao, M. Inami, T. Igarashi, and M. Imai, Designing Laser Gesture Interface for Robot Control, Proceedings of the 12th IFIP Conference on Human-Computer Interaction, IN- TERACT2009, pp.479-492, 2009.
DOI : 10.1007/978-3-642-03658-3_52

]. B. Bibliographie, L. R. Juang, and . Rabiner, Hidden Markov models for speech recognition, Technometrics, pp.251-272, 1991.

]. D. Jurafsky, J. H. Martin, A. Kehler, K. Vander-linden, and N. Ward, Speech and language processing : An introduction to natural language processing , computational linguistics, and speech recognition, p.115, 2000.

H. Peter, . Kahn-jr, T. Brian, A. L. Gill, T. Reichert et al., Validating interaction patterns in HRI, Proceedings of the 5th ACM/IEEE international conference on Humanrobot interaction, HRI '10, pp.183-184, 2010.

M. Takayuki-kanda, Z. Shiomi, H. Miyashita, N. Ishiguro, and . Hagita, An affective guide robot in a shopping mall, Proceedings of the 4th ACM/IEEE international conference on Human robot interaction, HRI '09, pp.173-180, 2009.

. Kanungo-2002-]-tapas, D. M. Kanungo, N. S. Mount, C. D. Netanyahu, R. Piatko et al., An efficient k-means clustering algorithm: analysis and implementation, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.24, issue.7, pp.881-892, 2002.
DOI : 10.1109/TPAMI.2002.1017616

]. Kaplan, P. Yves-oudeyer, E. Kubinyi, and A. Miklosi, Taming robots with clicker training : A solution for teaching complex behaviors, Proceedings of the European Workshop on Learning Robots, 2001.

]. Kaplan, P. Oudeyer, and B. Bergen, Computational models in the debate over language learnability. Infant and Child Development / formerly Early Development and Parenting, 2008.
URL : https://hal.archives-ouvertes.fr/inria-00348493

K. Kaymaz-2003-]-hande-kaymaz, A. Julie, K. Adams, and . Kawamura, PDA-Based Human-Robotic Interface, Proceedings of the IEEE International Conference on Systems, pp.10-13, 2003.

N. Nakadai-kazuhiro, Y. Hirofumi, H. Hasegawa, and . Tsujino, Sound source separation of moving speakers for robot audition, Proceedings of the 2009 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP '09, pp.3685-3688, 2009.

C. C. Kemp, C. D. Anderson, H. Nguyen, A. J. Trevor, and Z. Xu, A point-and-click interface for the real world, Proceedings of the 3rd international conference on Human robot interaction , HRI '08, pp.241-248, 2008.
DOI : 10.1145/1349822.1349854

]. Z. Khan, Attitudes towards intelligent service robots, NADA KTH, p.17, 1998.

H. Kobayashi, F. Hara, and A. Tange, A basic study on dynamic control of facial expressions for Face Robot, Robot and Human Communication RO-MAN '94 Nagoya, Proceedings., 3rd IEEE International Workshop on, pp.168-173, 1994.

]. H. Kozima, M. P. Michalowski, and C. Nakagawa, Keepon, International Journal of Social Robotics, vol.11, issue.2, pp.3-18, 2009.
DOI : 10.1007/s12369-008-0009-8

A. Kupferberg, M. Huber, and S. Glasauer, New frontiers in human?robot interaction, pp.165-183, 2011.

. Lauria, T. Bugmann, E. Kyriacou, and . Klein, Mobile robot programming using natural language, Robotics and Autonomous Systems, vol.38, issue.3-4, pp.171-181, 2002.
DOI : 10.1016/S0921-8890(02)00166-5

]. Lazebnik, C. Schmid, and J. Ponce, A sparse texture representation using local affine regions, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.27, issue.8, pp.1265-1278, 2005.
DOI : 10.1109/TPAMI.2005.151

URL : https://hal.archives-ouvertes.fr/inria-00548530

S. Lazebnik, C. Schmid-et-jean-ponce-bernt-schiele, S. J. Dickinson, and M. J. Tarr, Spatial pyramid matching Object Categorization : Computer and Human Vision Perspectives, Ale? Leonardis, pp.401-415, 2009.

]. Li, P. Rau, and Y. Li, A Cross-cultural Study: Effect of Robot Appearance and Task, International Journal of Social Robotics, vol.29, issue.1, pp.175-186, 2010.
DOI : 10.1007/s12369-010-0056-9

A. Lockerd and C. Breazeal, Tutelage and socially guided robot learning Proceedings, Intelligent Robots and Systems IEEE/RSJ International Conference on, pp.3475-3480, 2004.

]. Lömker and G. Sagerer, A Multimodal System for Object Learning, Proceedings of the 24th DAGM Symposium on Pattern Recognition, pp.490-497, 2002.
DOI : 10.1007/3-540-45783-6_59

G. David and . Lowe, Object Recognition from Local Scale-Invariant Features, Proceedings of the International Conference on Computer Vision, p.1150, 1999.

G. David and . Lowe, Distinctive Image Features from Scale-Invariant Keypoints, Int. Journal of Computer Vision, vol.60, issue.37, pp.91-110, 2004.

G. Lungarella, . Metta, G. Pfeifer, and . Sandini, Developmental robotics: a survey, Connection Science, vol.1, issue.4, pp.151-190, 2003.
DOI : 10.2307/1131322

J. Maja and . Mataric, Learning in behavior-based multi-robot systems : Policies, models, and other agents, Cognitive Systems Research, vol.2, pp.81-93, 2001.

]. Y. Matsumoto, T. Ino, and T. Ogasawara, Development of Intelligent Wheelchair System with Face and Gaze Based Interface, Proc. of 10th IEEE Int. Workshop on Robot and Human Communication, pp.262-267, 2001.

]. D. Maulsby, S. Greenberg, and R. Mander, Prototyping an intelligent agent through Wizard of Oz, Proceedings of the SIGCHI conference on Human factors in computing systems , CHI '93, pp.277-284, 1993.
DOI : 10.1145/169059.169215

]. P. Mcguire, J. Fritsch, J. J. Steil, F. Rothling, G. A. Fink et al., Multi-modal human-machine communication for instructing robot grasping tasks, IEEE/RSJ International Conference on Intelligent Robots and System, pp.1082-1088, 2002.
DOI : 10.1109/IRDS.2002.1043875

]. B. Meerbeek, M. Saerbeck, and C. Bartneck, Iterative design process for robots with personality SSAISB : The Society for the Study of Artificial Intelligence and the Simulation of Behaviour, AISB2009 Symposium on New Frontiers in Human-Robot Interaction, pp.94-101, 2009.

C. Lowe and . George, An attentive semantic robot, Robot. Auton. Syst, vol.56, issue.6 3, pp.503-511, 2008.

R. David, S. L. Michael, and . Chen, Serious games : Games that educate, train, and inform. Muska & Lipman/Premier-Trade, p.89, 2005.

]. P. Miller, Theories of developmental psychology, 2001.

T. Takahiro-miyashita, H. Tajika, K. Ishiguro, N. Kogure, and . Hagita, Haptic Communication Between Humans and Robots, ISRR'05, pp.525-536, 2005.

H. Carlos, M. R. Morimoto, and . Mimica, Eye gaze tracking techniques for interactive applications, Comput. Vis. Image Underst, vol.98, pp.4-24, 1921.

]. Nagai, K. Hosoda, Y. , A. Morita, M. Asada et al., A constructive model for the development of joint attention, Connection Science, vol.15, issue.4, pp.211-229, 2003.
DOI : 10.1023/A:1013298507114

R. Newman, Y. Matsumoto, S. Rougeaux, and A. Zelinsky, Real-time stereo tracking for head pose and gaze estimation, Proceedings Fourth IEEE International Conference on Automatic Face and Gesture Recognition (Cat. No. PR00580), p.122, 2000.
DOI : 10.1109/AFGR.2000.840622

M. Sao, A. Nguyen, P. Baranes, and . Oudeyer, Bootstrapping Intrinsically Motivated Learning with Human Demonstrations, proceedings of the IEEE International Conference on Development and Learning , page Nguyen, p.16, 2011.

K. Nickel and R. Stiefelhagen, Real-Time Recognition of 3D-Pointing Gestures for Human-Machine-Interaction, International Workshop on Human-Computer Interaction HCI 2004, p.20, 2004.
DOI : 10.1007/978-3-540-45243-0_71

]. L. Niehaus and S. E. Levinson, Online Learning of Word and Action Lexicons for Grounding Language : Experiments with the iCub Humanoid Robot, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), p.30, 2012.

]. Nielsen, Usability inspection methods, Conference companion on Human factors in computing systems, CHI '94, pp.413-414, 1994.

]. Nomura, T. Kanda, and T. Suzuki, Experimental investigation into influence of negative attitudes toward robots on humanrobot interaction, pp.138-150, 2006.

R. Illah, A. Nourbakhsh, J. Soto, S. Bobenage, R. Grange et al., An effective mobile robot educator with a full-time job, Artif. Intell, vol.114, pp.95-124, 1999.

]. Oudeyer and F. Kaplan, Discovering communication, Connection Science, vol.66, issue.2, pp.189-206, 2006.
DOI : 10.1080/09540090600768567

P. Bibliographie, F. Oudeyer, V. Kaplan, and . Hafner, Intrinsic motivation systems for autonomous mental development, IEEE Transactions on Evolutionary Computation, vol.11, issue.6, pp.265-286, 2007.

S. Alex, . Park, R. James, and . Glass, Unsupervised Pattern Discovery in Speech, Language, vol.16, issue.1, pp.186-197, 2008.

D. Perzanowski, A. C. Schultz, W. Adams, E. Marsh, and M. Bugajska, Building a multimodal human-robot interface, IEEE Intelligent Systems, vol.16, issue.1, pp.16-21, 2001.
DOI : 10.1109/MIS.2001.1183338

]. L. Rabiner and B. Juang, An introduction to hidden Markov models, IEEE ASSP Magazine, vol.3, issue.1, pp.4-16, 1986.
DOI : 10.1109/MASSP.1986.1165342

]. Rahimi, J. R. Smith, I. David, S. S. Ferguson, and . Srinivasa, Personal Robots : A Personal Computer Industry Perspective, 2009.

]. D. Reynolds, Experimental evaluation of features for robust speaker identification. Speech and Audio Processing, IEEE Transactions on, vol.2, issue.4, pp.639-643, 1994.

]. Rouanet, J. Béchu, and P. Oudeyer, A comparison of three interfaces using handheld devices to intuitively drive and show objects to a social robot: the impact of underlying metaphors, RO-MAN 2009, The 18th IEEE International Symposium on Robot and Human Interactive Communication, p.52, 2009.
DOI : 10.1109/ROMAN.2009.5326260

]. Oudeyer, Exploring the use of a handheld device in language teaching human-robot interaction, Proceedings of the AISB 2009 Workshop : New Frontiers in Human-Robot Interaction, pp.65-115, 2009.
URL : https://hal.archives-ouvertes.fr/inria-00420235

]. Rouanet, P. Oudeyer, and D. Filliat, An integrated system for teaching new visually grounded words to a robot for non-expert users using a mobile device, 2009 9th IEEE-RAS International Conference on Humanoid Robots, pp.65-134, 2009.
DOI : 10.1109/ICHR.2009.5379540

URL : https://hal.archives-ouvertes.fr/inria-00420249

]. Rouanet, P. Oudeyer, and D. Filliat, A study of three interfaces allowing non-expert users to teach new visual objects to a robot and their impact on learning efficiency, Proceedings of the ACM/IEEE Human-Robot Interaction HRI 2010 Conference, pp.65-134, 2010.
URL : https://hal.archives-ouvertes.fr/inria-00541794

]. Rouanet, P. Oudeyer, and D. Filliat, Using mediator objects to easily and robustly teach visual objects to a robot, ACM SIGGRAPH 2010 Posters on, SIGGRAPH '10, p.134, 2010.
DOI : 10.1145/1836845.1836952

URL : https://hal.archives-ouvertes.fr/inria-00541798

]. Rouanet, F. Danieau, and P. Oudeyer, A robotic game to evaluate interfaces used to show and teach visual objects to a robot in real world condition, Proceedings of the 6th international conference on Human-robot interaction, HRI '11, p.89, 2011.
DOI : 10.1145/1957656.1957782

URL : https://hal.archives-ouvertes.fr/hal-00647459

]. Roy, Learning words from sights and sounds: a computational model, Cognitive Science, vol.55, issue.3, p.30, 1999.
DOI : 10.1207/s15516709cog2601_4

]. , R. , and A. Pentland, Learning Words from Sights and Sounds : A Computational Model, Cognitive Science, vol.26, pp.113-146, 2000.

S. Sue, R. Rumbaugh, and . Lewin, Kanzi : The ape at the brink of the human mind, p.35, 1996.

]. J. Russell, Reading emotions from and into faces : Resurrecting a dimensional-contextual perspective The Psychology of Facial Expression, J. A. Russell et J. M. Fernández-Dols, pp.295-320, 1997.

D. Sakamoto, K. Honda, M. Inami, and T. Igarashi, Sketch and run, Proceedings of the 27th international conference on Human factors in computing systems, CHI 09, pp.197-200, 2009.
DOI : 10.1145/1518701.1518733

]. Saxena, J. Driemeyer, and A. Y. Ng, Robotic Grasping of Novel Objects using Vision, The International Journal of Robotics Research, vol.13, issue.3, pp.157-173, 2008.
DOI : 10.1177/0278364907087172

. Bibliographie, Brian Scassellati. Mechanisms of Shared Attention for a Humanoid Robot, Embodied Cognition and Action : Papers from the 1996 AAAI Fall Symposium, p.33, 1996.

]. and M. Scassellati, Foundations for a theory of mind for a humanoid robot, AAI0803464, vol.4, issue.18, pp.17-27, 2001.
DOI : 10.1037/e446982006-001

M. Scheeff, J. Pinto, K. Rahardja, S. Snibbe, and R. Tow, Experiences with Sparky, a Social Robot, Proceedings of the Workshop on Interactive Robot Entertainment, p.18, 2000.
DOI : 10.1007/0-306-47373-9_21

L. James and . Crowley, Object recognition using multidimensional receptive field histograms, Energy, vol.1064, issue.6, pp.610-619, 1996.

D. Schmalstieg, L. Encarnação, and Z. Szalavári, Using transparent props for interaction with the virtual table, Proceedings of the 1999 symposium on Interactive 3D graphics , SI3D '99, pp.147-153, 1999.
DOI : 10.1145/300523.300542

J. Schmuedderich, N. Einecke, S. Hasler, A. Gepperth, B. Bolder et al., System approach for multi-purpose representations of traffic scene elements, 13th International IEEE Conference on Intelligent Transportation Systems, pp.1677-1684, 2010.
DOI : 10.1109/ITSC.2010.5625234

]. Schulte, C. Rosenberg, and S. Thrun, Spontaneous Short-term Interaction with Mobile Robots in Public Places, 1999.

]. J. Sivic and A. Zisserman, Video Google: a text retrieval approach to object matching in videos, Proceedings Ninth IEEE International Conference on Computer Vision, pp.37-71, 2003.
DOI : 10.1109/ICCV.2003.1238663

]. Skubic, S. Blisard, A. Carle, and P. Matsakis, Hand- Drawn Maps for Robot Navigation, AAAI Spring Symposium, Sketch Understanding Session, 1923.

D. Sofge, J. Gregory-trafton, N. Cassimatis, D. Perzanowski, M. Bugajska et al., Human-Robot Collaboration and Cognition with an Autonomous Mobile Robot, Proceedings of the 8th Conference on Intelligent Autonomous Systems (IAS-8, pp.80-87, 2004.

M. Staudte and M. W. Crocker, Visual attention in spoken human-robot interaction, Proceedings of the 4th ACM/IEEE international conference on Human robot interaction, HRI '09, pp.77-84, 2009.
DOI : 10.1145/1514095.1514111

]. Steels and F. Kaplan, AIBO's first words : The social learning of language and meaning, Evolution of Communication, vol.4, issue.1 4, pp.3-32, 2000.

]. L. Steels and F. Kaplan, Bootstrapping grounded word semantics Linguistic Evolution through Language Acquisition : Formal and Computational Models, chapitre 3, p.31, 2002.

A. Steinfeld, T. Fong, D. Kaber, M. Lewis, J. Scholtz et al., Common metrics for humanrobot interaction, Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction, HRI '06, pp.33-40, 2006.

S. Richard, A. G. Sutton, and . Barto, Reinforcement Learning : An Introduction (Adaptive Computation and Machine Learning), 1998.

A. Tapus, M. Mataric, and B. Scassellati, Socially assistive robotics [Grand Challenges of Robotics], ISCA ITRW, Speech Analysis and Processing for Knowledge Discovery, pp.35-42, 2007.
DOI : 10.1109/MRA.2007.339605

]. A. Thomaz and C. Breazeal, Robot learning via socially guided exploration, 2007 IEEE 6th International Conference on Development and Learning, pp.82-87, 2007.
DOI : 10.1109/DEVLRN.2007.4354078

L. Andrea, C. Thomaz, and . Breazeal, Teachable robots : Understanding human teaching behavior to build more effective robot learners, Artificial Intelligence Journal, vol.172, pp.716-737, 2008.

M. Tomasello, M. Carpenter, J. Call, T. Behne, and H. Moll, Understanding and sharing intentions: The origins of cultural cognition, Behavioral and Brain Sciences, vol.28, issue.05, p.12, 2004.
DOI : 10.1017/S0140525X05000129

]. Tsui, H. Yanco, D. Kontak, and L. Beliveau, Development and evaluation of a flexible interface for a wheelchair mounted robotic arm, Proceedings of the 3rd international conference on Human robot interaction , HRI '08, pp.105-112, 2008.
DOI : 10.1145/1349822.1349837

]. K. Wada-2005, T. Wada, T. Shibata, K. Saito, K. Sakamoto et al., Psychological and Social Effects of One Year Robot Assisted Activity on Elderly People at a Bibliographie Health Service Facility for the Aged, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.2785-2790, 2005.

]. M. Walters, S. N. Woods, K. L. Koay, and K. Dautenhahn, Practical and Methodological Challenges in Designing and Conducting Human-Robot Interaction Studies, Proceedings of the AISB'05 Symposium on Robot Companions Hard Problems and Open Challenges in Human-Robot Interaction, pp.110-119, 2005.

L. Michael, K. Walters, S. N. Dautenhahn, L. Woods, and . Koay, Robot etiquette : Results from user studies involving a fetch and carry task, ACM/IEEE International Conference on Human-Robot Interaction, pp.317-324, 2007.

L. Michael, D. S. Walters, K. Syrdal, R. Dautenhahn, . Te-boekhorst-et-kheng-lee et al., Avoiding the uncanny valley : robot appearance , personality and consistency of behavior in an attention-seeking home scenario for a robot companion, Auton. Robots, vol.24, pp.159-178, 2005.

]. Wang, R. Cipolla, and H. Zha, Vision-based Global Localization Using a Visual Vocabulary, Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA), p.67, 2005.

A. Weiss, R. Bernhaupt, M. Lankes, and M. Tscheligi, The usus evaluation framework for human-robot interaction, AISB2009 : Proceedings of the Symposium on New Frontiers in Human-Robot Interaction, p.49, 2009.

. Weng, . Mcclelland, . Pentland, . Sporns, M. Stockman et al., ARTIFICIAL INTELLIGENCE: Autonomous Mental Development by Robots and Animals, Science, vol.291, issue.5504, pp.599-600, 2001.
DOI : 10.1126/science.291.5504.599

H. Wersing, S. Kirstein, M. Götting, H. Brandl, M. Dunn et al., A Biologically Motivated System for Unconstrained Online Learning of Visual Objects, In ICANN, issue.2, pp.508-517, 2006.
DOI : 10.1007/11840930_53

Y. Wu and T. S. Huang, Vision-Based Gesture Recognition: A Review, Proceedings of the International Gesture Workshop on Gesture- Based Communication in Human-Computer Interaction, GW '99, pp.103-115, 1999.
DOI : 10.1007/3-540-46616-9_10

]. H. Yanco and L. A. Stein, An adaptive communication protocol for cooperating mobile robots. From animals to animats, pp.478-485, 1993.

A. Holly, J. L. Yanco, J. Drury, and . Scholtz, Beyond usability evaluation : analysis of human-robot interaction at a major robotics competition, Hum.-Comput. Interact, vol.19, issue.1, pp.117-149, 2004.

]. , Y. , and D. H. Ballard, A Multimodal Learning Interface for Grounding Spoken Language in Sensory Perceptions, ACM Transactions On Applied Perception, vol.1, issue.30, pp.57-80, 2004.

]. , Y. , and D. H. Ballard, On the integration of grounding language and learning objects, AAAI'04 : Proceedings of the 19th national conference on Artifical intelligence, pp.488-493, 2004.