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wHiSPER project uses iCub

a humanoid robot conformed on child shape. It can hear, see and move, it has the sense of touch and proprioception.
With the cognitive architecture CLARION, iCub is able to classify cards by shape or color
1,2,3 .... Jenga. You can build a tower of bricks with iCub
iCub can guess the letter we are drawing on its skin