1. A method of controlling a robot using a human-robot interface apparatus in two-way wireless communication with the robot, the method comprising: displaying, automatically by a processor, a two-dimensional image on a display interface of the human-robot interface apparatus, wherein the two-dimensional image is provided by two video cameras associated with the robot; displaying on the display interface a visual representation of an object recognition support tool library having a plurality of registered object shape patterns and a visual representation of an action support tool library; receiving a selected object image selected from the two-dimensional image, wherein the selected object image represents a target object; comparing the selected object image with the plurality of registered object shape patterns and automatically recognizing a registered object shape pattern associated with the target object; receiving a selected object manipulation pattern selected from the action support tool library; and transmitting control signals to the robot from the human-robot interface apparatus, wherein the control signals cause the robot to automatically approach the target object and perform an object manipulation of the target object in accordance with the selected object manipulation pattern.