We think that psychological interaction is necessary for smooth communication between robots and people. One way to psychologically interact with others is through facial expressions. Facial expressions are very important for communication because they show true emotions and feelings. The ``Ifbot'' robot communicates with people by considering its own ``emotions''. Ifbot has many facial expressions to communicate enjoyment. We developed a method for generating facial expressions based on human subjective judgements mapping Ifbot's facial expressions to its emotions. We first created Ifbot's emotional space to map its facial expressions. We applied a five-layer auto-associative neural network to the space. We then subjectively evaluated the emotional space and created emotional regions based on the results. We generated emotive facial expressions using the emotional regions.
