I worked on a variety of projects at Interval. The largest one explored human response to a socially competent robot. We designed, built, and refined a custom robot and than tested it with an array of human subjects in a variety of contexts. I did about 2/3 of the engineering, much of the human subjects work, and ran the project for a good while. 

Experiences with Sparky, a Social Robot
A paper from WIRE-2000

A Layered Architecture for Lifelike Robotic Motion
A paper from ICAR 99

Also, a book chapter in Socially Intelligent Agents:
Creating Relationships with Computers and Robots.