摘要

This paper presents the planning of speech and facial expression for emotional expression of the robot, Ifbot which communicates with people by considering its own emotions. This speech planning creates emotive voices by changing intonation of the part of sentence, not the whole sentence. Expressing the modified sentence with Ifbot's internal emotion, Ifbot can share its emotions, moods, and other feelings with its interlocutor. Moreover, we create an emotional model, emotional space, for the facial expression planning. Using the emotional space, Ifbot expresses more natural emotions on its face. We report on some good results of Ifbot's emotional expression obtained with these two plannings.