A system for converting robot ´emotion´ into facial expressions

This paper presents a method that enable a domestic robot to show emotions with its facial expressions. The previous methods using built-in facial expressions were able to show only scanty face. To express faces showing various emotion, (e.g. mixed emotions and different strengths of emotions) more facial expressions are needed. We have therefore developed a system that converts emotions into robot´s facial expressions automatically. They are created from emotion parameters, which represent its emotions. We show that the system can generate facial expressions reasonably