@conference{choi2009delivery,
  title={{Hand It Over or Set It Down: A User Study of Object Delivery with an Assistive Mobile Manipulator.}},
  author={Young Sang Choi and Tiffany Chen and Advait Jain and Cressel Anderson and Jonathan D. Glass and Charles C. Kemp},
  booktitle={IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)},
  year={2009}
}