Abstract

Emotions are the intrinsic or extrinsic representa-
tions of our experiences. The importance of emotions during a
human-human interaction is immense as it formulates the basis
of our interaction framework. There are several approaches in
psychology to evaluate emotional states in humans based on the
perceived stimuli. However, the topic has been less explored as
far as human-robot interaction is concerned. This paper uses
an appropriate emotion appraisal mechanism from psychology,
generating an emotional state in a humanoid robot on-the-fly
during human-robot interaction. Since the exhibition of only six
basic emotions is not sufficient to cater to diverse situations, the
use of the Circumplex Model in this work has allowed the life-
sized robot called ROBIN to experience 28 emotional states in
different interaction scenarios. Realistic robot behaviour has
been generated based on the proposed appraisal system in
various interaction scenarios.