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Service robots are built to help ordinary people in their daily life. The most desirable way for communicating with service robots is through natural language interfaces. In our research, we develop a novel bio-inspired approach, called the collaborative behavior based approach, to build a natural language interface between a robot and its human user. In this approach, knowledge about collaborative behaviors of both the robot and its user is applied to solve ambiguity in a natural language. In building a system that is based on knowledge about behaviors, a key issue is representing the knowledge. So far, little research has been done in representing knowledge about behaviors. In this paper, we describe the collaborative behavior based approach, with emphasis on its knowledge representation structures.