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This paper introduces recent progress made for vocabulary standardization efforts in ISO TC 184/SC 2(robots and robotic devices). The previous standard on vocabulary, ISO 8373, was published in 1994, and it was mainly focused on vocabularies for industrial robots. A working group on vocabulary was formed in 2007 to revise the existing standard and to expand it to cover the terminologies for service robots. The preliminary document has been studied by experts and new work item proposal was accepted recently.