@article {rana2012isr, title = {Knowledge acquisition through human{\textendash}robot multimodal interaction}, journal = {Intelligent Service Robotics}, volume = {6}, year = {2013}, pages = {19-31}, doi = {10.1007/s11370-012-0123-1}, author = {Gabriele Randelli and Bonanni, Taigo Maria and L. Iocchi and D. Nardi} }