Shinichiro Nakaoka Fumio Kanehiro Kanako Miura Mitsuharu Morisawa Kiyoshi Fujiwara Kenji Kaneko Shuuji Kajita Hirohisa Hirukawa Creating facial motions of Cybernetic Human HRP-4C. 561-567 2009 Humanoids http://dx.doi.org/10.1109/ICHR.2009.5379516 conf/humanoids/2009 db/conf/humanoids/humanoids2009.html#NakaokaKMMFKKH09