The description in section 5.3. Speech and Person Recognition (pg. 56-59) is referred.
The description in section 5.4. Help-me-carry (pg. 60-63) is referred.
The description in section 6.5. Restaurant (pg. 78-81) is referred.
In section 6.5.3., 5. Delivering phase (pg. 78), the objects for the robot to retrieve will be located within the reach of the working envelope of the robot arm (see below).
The description in chapter 7. Finals (pg. 87-88) is referred.