{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T08:48:00Z","timestamp":1782809280809,"version":"3.54.5"},"reference-count":0,"publisher":"ECMS","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2026,6,23]]},"abstract":"<jats:p>Expressive humanoid heads are increasingly used in social robotics, education, and interactive simulation environments, yet their mechanical complexity and tight packaging constraints often lead to long build--test cycles. This paper presents a simulation-driven workflow for designing and validating a proof-of-concept biomimetic robotic head capable of producing recognisable facial expressions. A modular kinematic architecture (neck, jaw, eye, and eyebrow subsystems) is modelled in CAD, where joint constraints and motion envelopes are simulated to verify feasibility before fabrication. The resulting prototype integrates 26 servo actuators within a human-head form factor (mass 1.5 kg) and employs a discrete-time smoothing strategy to shape actuator commands and reduce mechanical transients, improving the perceived naturalness of motion. The contribution of this work is twofold: (i) a repeatable model-based design procedure that links simulation artefacts to physical integration, and (ii) an initial set of implementation insights that reduce risk in future upgrades toward perception-driven expression control and a digital twin for human--robot interaction studies.<\/jats:p>","DOI":"10.7148\/2026-0102","type":"proceedings-article","created":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T08:36:46Z","timestamp":1782808606000},"page":"102-108","source":"Crossref","is-referenced-by-count":0,"title":["Model-based design and simulation-driven development of a biomimetic robotic head with facial expressions"],"prefix":"10.7148","author":[{"given":"Simon","family":"Macurek","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Aghil","family":"Jafari","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Appolinaire","family":"Etoundi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"4144","published-online":{"date-parts":[[2026,6,23]]},"event":{"name":"40th ECMS International Conference on Modelling and Simulation"},"container-title":["ECMS 2026 Proceedings edited by Filippo Sanfilippo, Florenc Demrozi, Fabio Sgarbossa, Mohammad Poursina"],"original-title":[],"deposited":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T08:36:50Z","timestamp":1782808610000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.scs-europe.net\/dlib\/2026\/ecms2026acceptedpapers\/0102_hric_ecms2026_0044.pdf"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,6,23]]},"references-count":0,"URL":"https:\/\/doi.org\/10.7148\/2026-0102","relation":{},"subject":[],"published":{"date-parts":[[2026,6,23]]}}}