Mitchell Wilkes W. Anthony Alford Robert T. Pack Tamara E. Rogers Richard Alan Peters II Kazuhiko Kawamura Toward Socially Intelligent Service Robots. 729-766 1998 12 Applied Artificial Intelligence 7-8 http://taylorandfrancis.metapress.com/openurl.asp?genre=article&issn=0883-9514&volume=12&issue=7&spage=729 db/journals/aai/aai12.html#WilkesAPRPK98