This study aims to clarify the cooperation intelligence of robots with an emotion model based on the human biological system. The paper describes the functions of the arm system of the behavior-based robot, WAMOEBA-2, which has an emotion model and can communicate with humans. The specifications of the arm system were determined based on a study of human robot physical interaction. Each joint of the arm is equipped with a torque sensor and the arm is controlled by a distributed agent network system. The network architecture is acquired in a neural network by feedback-error-learning algorithm. In the experiment, human beings can play with the arm system by physical interaction.
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