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Affordances capture the relationships between a robot and the environment in terms of the actions that the robot is able to perform. ... developmental robotics; 4) some open questions about how to use the affordance concept; and 5) a few promising research directions. ... ACKNOWLEDGMENT The authors would like to thank the Associate Editor and the anonymous reviewers for their invaluable comments and suggestions. ...doi:10.1109/tcds.2016.2614992 fatcat:y3t4rgzbqzh55b37ovafu462jy