Directing humanoids in a multi-modal command language. - Tetsushi Oka; Toyokazu Abe; Masato Shimoji; Takuya Nakamura; Kaoru Sugita; Masao Yokota (RO-MAN, 2008)

RUNA: a multimodal command language for home robot users. - Tetsushi Oka; Toyokazu Abe; Kaoru Sugita; Masao Yokota (Artif. Life Robotics, 2009)

Success rates in a multimodal command language for home robot users. - Tetsushi Oka; Toyokazu Abe; Kaoru Sugita; Masao Yokota (Artif. Life Robotics, 2009)

User study of a life-supporting humanoid directed in a multimodal language. - Tetsushi Oka; Toyokazu Abe; Kaoru Sugita; Masao Yokota (Artif. Life Robotics, 2011)