Peter Kaiser 0001 David Israel Gonzalez-Aguirre Fabian Schultje Júlia Borràs Sol Nikolaus Vahrenkamp Tamim Asfour Extracting whole-body affordances from multimodal exploration. 1036-1043 2014 Humanoids https://doi.org/10.1109/HUMANOIDS.2014.7041332 conf/humanoids/2014 db/conf/humanoids/humanoids2014.html#KaiserGSSVA14