Abstract
Recently, the existence of the robot approaches human's daily life. In such an environment, the robot not only follows the action designed in advance but also should perceive what the situation is, and do an appropriate action. Then, in this paper, it aims to achieve the perceptual system like humans for the partner robot that coexists in the same environment with people, and to acquire an adaptive action in an interaction. So approaching the interaction ability of the robot from the side of feelings and installing the perceptual system that models human's feelings in the robot., it aims at the achievement of the natural, effective interaction that humans is doing.
