Takayuki Kanda Masahiro Shiomi Zenta Miyashita Hiroshi Ishiguro Norihiro Hagita An affective guide robot in a shopping mall. 173-180 2009 HRI http://doi.acm.org/10.1145/1514095.1514127 conf/hri/2009 db/conf/hri/hri2009.html#KandaSMIH09