TY - CPAPER AB - Although many tasks intrinsically involve multiplemodalities, often only data from a single modality are used toimprove complex robots acquisition of new skills. We presenta method to equip robots with multimodal learning skills toachieve multimodal imitation on-the-fly on multiple concurrenttask spaces, including vision, touch and proprioception, onlyusing self-learned multimodal sensorimotor relations, withoutthe need of solving inverse kinematic problems or explicit analyticalmodels formulation. We evaluate the proposed methodon a humanoid iCub robot learning to interact with a pianokeyboard and imitating a human demonstration. Since noassumptions are made on the kinematic structure of the robot,the method can be also applied to different robotic platforms. AU - Zambelli,M AU - Demiris,Y DO - 10.1109/IROS.2016.7759582 PB - IEEE PY - 2016/// SN - 2153-0866 TI - Multimodal Imitation using Self-learned Sensorimotor Representations UR - http://dx.doi.org/10.1109/IROS.2016.7759582 UR - http://hdl.handle.net/10044/1/39519 ER -