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This paper focuses on the development of interaction between humans and robots, we decided to give the robotic arm has a consciousness and an emotional behavior in the same way as humans and animals. Thus, we have developed the hierarchical structure model which is the relationship between consciousness field and behavior module. The model is called Consciousness-Base Architecture (CBA) that was combined with the motivation module. Moreover, the ability to learn and remember the situations, it is necessary to make for more intelligent robot. Thereby, we attempt to build a memory module in the robot system. The memory for such system needs to efficiently organize and recognize previous experience in order to retrieve the relevant data and compared with the current situation. In this paper, we present the evaluation function for autonomous action selection, the memory module has been built and the behavior of the robotic arm has been verified in the experiment.