Matthias Nieuwenhuisen Jörg Stückler Sven Behnke Intuitive Multimodal Interaction for Domestic Service Robots. 1-8 2010 ISR/ROBOTIK http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5756823 conf/isr/2010 db/conf/isr/isr2010.html#NieuwenhuisenSB10