Closed-loop Petri Net model for implementing an affective-state expressive robotic face. - Timothy Hargreaves; Masood Mehmood Khan; Daniel Benson; Tele Tan (AIM, 2016)

Modeling and verification of facial expression display mechanism for developing a sociable robot face. - Daniel Benson; Masood Mehmood Khan; Tele Tan; Timothy Hargreaves (ICARM, 2016)