We aim to develop a robot which can be commanded simply and accurately, especially by users with re-duced mobility. Our shared control approach divides task responsibilities between the user (high level) and the robot (low level). A video interface shared be-tween the user and robot enables the use of a deictic interface. The paper describes our progress toward this goal in several areas. A complete command set has been developed which uses minimal environmental features. Our video tracking algorithms have proven robust on the types of targets used by the commands. Specialized hardware and new tactile and acoustic sen-sors have been developed. These and other advances are discussed, as well as planned work.