Ricardo Beira Manuel Lopes Miguel Praça José Santos-Victor Alexandre Bernardino Giorgio Metta Francesco Becchi Roque J. Saltarén Design of the Robot-cub (iCub) Head. 94-100 2006 conf/icra/2006 ICRA db/conf/icra/icra2006.html#BeiraLPSBMBS06 http://dx.doi.org/10.1109/ROBOT.2006.1641167