Development of emotional attachment on a cleaning robot for the long-term interactive affective companion

Emotional interaction has been widely applied to many robotic applications. Emotional behavior, which is complementary to limited cognitive ability in a service robot, is becoming the attractive service task even including its own therapeutic functions. This paper focused on the user study of an interactive affective companion by using a cleaning robot as a pet. The cognitive and emotional subsumption model is designed for the robust behavior selection with the response to human's commands. In addition, we testified the appropriateness of long-term interaction through tablet-based modality.