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Interaction with a robot partner requires many elements, including not onlyspeech but also embodiment. Thus, gestural and facial expressions are importantfor communication. Furthermore, understanding human movements is essential forsafe and natural interchange. This paper proposes an interactive fuzzyemotional model for the robot partner's gesture expression, following itsfacial emotional model.  First, we describe the physical interaction between the user and its robotpartner. Next, we propose a kinematic model for the robot partner based on theDenavit-Hartenberg convention and solve the inverse kinematic transformationthrough Bacterial Memetic Algorithm. Then, the emotional model along itsinteractivity with the user is discussed. Finally, we show experimental resultsof the proposed model.

Fuzzy Gesture Expression Model for an Interactive and Safe Robot Partner