Y. Hosoda N. Sumida T. Mita Y. Matsukawa D. Yamamoto N. Shibatani Leila Takayama Company talks. 13 2010 HRI http://doi.acm.org/10.1145/1734454.1734465 conf/hri/2010 db/conf/hri/hri2010.html#HosodaSMMYST10