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Smart phones have enhanced computing power and various interface modes which are able to be used as ubiquitous devices. A multimodal ubiquitous interface system using a smart phone for human-robot interaction (HRI) is proposed. In the interface system, the host computer of a robot acquires images for the front view and the state of motion and generates voice as a server, and transmits them to a smart phone. The smart phone as a client using Android as a mobile OS displays the received information on the screen and to speaker, and transfers control signals activated by button and voice events. For providing various media, the interface system provides remote moving mode, remote operation mode, and voice control mode which utilize the little space of the screen and the limited computing power. Experimental results show the implementation of the proposed interface system and demonstrate its feasibility to control service robots.