“…In this sense, we have already achieved smooth and effective communication using natural language instructions. Comparable (and in certain aspects more sophisticated) achievements with regard to spatially situated human-robotic systems have been mastered successfully, for instance, by major research projects in Saarbrücken (Stopp, Gapp, Herzog, Laengle, & Lueth, 1994), Bielefeld (Knoll, Hildebrandt, & Zhang, 1997;Moratz, Eikmeyer, Hildebrandt, Knoll, Kummert, Rickheit, & Sagerer, 1995), Stockholm (Severinson-Eklundh, Green, & Hüttenrauch, 2003), and the US (Skubic et al, 2004), focusing on different aspects of human robot interaction scenarios.…”