Naoyuki Sawasaki Toshiya Nakajima Atsushi Shiraishi Shinya Nakamura Kiyoshi Wakabayashi Yusuke Sugawara Application of humanoid robots to building and home management services. 2992-2997 2003 conf/icra/2003 ICRA db/conf/icra/icra2003.html#SawasakiNSNWS03