@article {393, title = {Toward the Robot Butler: The HUMABOT Challenge [Competitions]}, journal = {IEEE Robotics Automation Magazine}, volume = {22}, year = {2015}, month = {June}, pages = {8-17}, issn = {1070-9932}, doi = {10.1109/MRA.2015.2418511}, author = {Enric Cervera and J. C. Garcia and P. J. Sanz} }