Shimon the Rapper: A Real-Time System for Human-Robot Interactive Rap Battles. - Richard Savery; Lisa Zahray; Gil Weinberg (ICCC, 2020)

Mechatronics-Driven Musical Expressivity for Robotic Percussionists. - Ning Yang; Richard Savery; Raghavasimhan Sankaranarayanan; Lisa Zahray; Gil Weinberg (NIME, 2020)

Robot Gesture Sonification to Enhance Awareness of Robot Status and Enjoyment of Interaction. - Lisa Zahray; Richard Savery; Liana Syrkett; Gil Weinberg (RO-MAN, 2020)

Emotional Musical Prosody for the Enhancement of Trust in Robotic Arm Communication. - Richard Savery; Lisa Zahray; Gil Weinberg (CoRR, 2020)

Emotional Musical Prosody: Validated Vocal Dataset for Human Robot Interaction. - Richard Savery; Lisa Zahray; Gil Weinberg (CoRR, 2020)

Before, Between, and After: Enriching Robot Communication Surrounding Collaborative Creative Activities. - Richard Savery; Lisa Zahray; Gil Weinberg (Frontiers Robotics AI, 2021)

Emotional musical prosody for the enhancement of trust: Audio design for robotic arm communication. - Richard Savery; Lisa Zahray; Gil Weinberg (Paladyn J. Behav. Robotics, 2021)