‘Sticky hands ’ is an exercise that involves two players placing their hands in contact and moving the contact point while attempting to maintain a constant minimal contact force. It requires players to be sensitive and responsive to their partner’s motions. It is used to develop coordination, relaxation, grace and is a comfortably intimate interaction between human beings. We present a system for playing with an anthropomorphic robot intended to explore robotics ’ use in self-development and to facilitate intimate human-like interactions with the robot. We discuss motor control of our robot briefly, then present a new learning algorithm capable of generalizing observed motions to the performance of similar movements. Our algorithm records and maintains a se
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