Fuzzy rule expression for emotional generation model based on subsumption architecture

The purpose of our research is to attempt to represent emotions which are difficult to express into a robot as compared with the logical knowledge. The emotional simulator for an autonomous mobile robot which is able to express various emotions based on three basic emotional vectors, described only with simplified fuzzy rules, was developed in this research. We represented the emotional auto-generation model with Subsumption Architecture (SSA). We also report the result of experiments performed with a miniature robot for the purpose of confirming the efficiency of this simulator