@INCOLLECTION{steels:12a, author = {Steels, Luc and Spranger, Michael and van Trijp, Remi and H"{o}fer, Sebastian and Hild, Manfred},title = {Emergent Action Language on Real Robots},year = {2012},booktitle = {Language Grounding in Robots},pages = {255--276},publisher = {Springer},editor = {Steels, Luc and Hild, Manfred},chapter = {13},address = {},}