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Raspberry Pi is a complete USB host. Everything that has drivers in the OS will work. Well, what is enough power - it is difficult to pump enough current through thin raspberry tracks for, for example, an external HDD without additional power.
Arduino - check the documentation for the specific board. Usually only the client, but maybe modern ones are already stuffed and the host implements it themselves.
Yes, there is a USB Host Shield for Arduino, as well as an Arduino ADK version. You can connect to them, for example, a mouse, keyboard or even an Android phone.
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