Development of user interface for humanoid service robot system. - Takashi Nishiyama; Hiroshi Hoshino; Kazuya Sawada; Yoshihiko Tokunaga; Hirotatsu Shinomiya; Mitsunori Yoneda; Ikuo Takeuchi; Yukiko Ichige; Shizuko Hattori; Atsuo Takanishi (ICRA, 2003)