All humans feel emotions, but individuals express their emotions differently because each has a different personality. We design an emotional decision model that focuses on the personality of individuals. The personality-based emotional decision model is designed with four linear dynamics, viz. reactive dynamic system, internal dynamic system, emotional dynamic system, and behavior dynamic system. Each dynamic system calculates the output values that reflect the personality, by being used as system matrices, input matrices, and output matrices. These responses are reflected in the final emotional behavior through a behavior dynamic system as with humans. The final emotional behavior includes multiple emotional values, and a social robot shows various emotional expressions. We perform some experiments using the cyber robot system, to verify the efficiency of the personality-based emotional decision model that generates various emotions according to the personality. 1. Introduction Social robots communicate with various humans in our daily life environment. They play with humans as toys and friends [1–9], provide information as guides [10, 11] or teachers [12], and help humans [13, 14]. In this process, emotional communication is the key to making humans regard robots as friends. For this reason, researchers have designed artificial emotional systems and social robots. Breazeal designed a three-dimensional emotional space model that consists of arousal, valence, and stance, and developed Kismet and Leonardo [15, 16]. Miwa et al. proposed a three-dimensional emotional space model that consists of activation, pleasantness, and certainty [17]. The emotional vector calculated by a quadratic differential equation decides the final emotion of the humanoid robot WE-4RII. Lee et al. proposed a linear affect-expression space model that consists of surprise, angriness, and sadness, for Doldori [18]. Karg et al. designed an affect model based on Piecewise Linear system to model transitions of affect [19]. Kanoh et al. proposed an emotional model using a three-dimensional emotional space for ifbot [20]. Becker-Asano and Wachsmuth designed the “WASABI” affect simulation architecture, which uses a three-dimensional emotion space called PAD (Pleasure-Arousal-Dominance) space [21]. In these studies, social robots generate and express their emotions in Human-Robot Interaction. Emotions are known to be dependent on contextual and cultural background. The emotional systems of human beings result in different emotions and behaviors under the same external stimuli. One of the
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