Kazuhiko Kawamura Richard Alan Peters II Mitchell Wilkes W. Anthony Alford Tamara E. Rogers ISAC: Foundations in Human-Humanoid Interaction. 38-45 2000 15 IEEE Intelligent Systems 4 http://www.computer.org/intelligent/ex2000/x4038abs.htm db/journals/expert/expert15.html#KawamuraPWAR00