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In this paper we present a neuro-robotic model that uses artificial neural networks for investigating the relations between the development of symbol manipulation capabilities and of sensorimotor knowledge in the humanoid robot iCub. We describe a cognitive robotics model in which the linguistic input provided by the experimenter guides the autonomous organization of the robot's knowledge. In this model, sequences of linguistic inputs lead to the development of higher-order concepts grounded ondoi:10.1016/j.neunet.2012.02.012 pmid:22386502 fatcat:kewpgq4pjvhytan5ge52ih7suu