Peter Kaiser 0001 Dimitrios Kanoulas Markus Grotz Luca Muratore Alessio Rocchi Enrico Mingo Hoffman Nikos G. Tsagarakis Tamim Asfour An affordance-based pilot interface for high-level control of humanoid robots in supervised autonomy. 621-628 2016 Humanoids https://doi.org/10.1109/HUMANOIDS.2016.7803339 conf/humanoids/2016 db/conf/humanoids/humanoids2016.html#KaiserKGMRHTA16