We present in this paper, a facial expressions recognition system to command a mobile robot (Pionner-3DX). The proposed system mainly consists of two modules: facial expression recognition and robot command. The first module aims to recognize the facial expressions like happiness, sadness, surprise, anger, fear, disgust and neutral using Gradient Vector Flow (GVF) snake to find ROI (Region Of Interest like: mouth, eyes, eyebrow) segmentation from FEEDTUM database (video file). While the second module, analyses the segmented ROI to recognize with Euclidian distance calculation (compatible with the MPEG-4 description of the six universal emotions) and Time Delay Neural Network classifier. Finally, the recognized facial expressions were used as control commands for the mobile robot displacement (forward; backward; turn left; turn right) in ROS (Robot Operating System).