Design of emotion generation model and action selection for robots using a Self Organizing Map

Our research has been focused on developing an interaction between humans and robots to enhance an intellectual action of the service robots. From our previous research, we have constructed a model of mechanism of consciousness and behaviors, this software architecture is called Consciousness-Based Architecture (CBA). Furthermore, the robot should select the action and express the emotion by itself, which depends on its surrounding environment. Therefore, this research presents a system which forms and expresses the emotions of the robot. The intrinsic motivation and external situations of robot are used to analyze and classify the behavior and the emotion by a Self-Organizing Map (SOM). We attempt to describe the integration of a behavior map and an emotion map into CBA module. We confirmed the effectiveness of the proposed system by an experiment in an environment using a conscious behavior robot (Conbe-I).