With the expansion of the robot market, the places where robots play an active role are increasing dramatically. Therefore, not only industrial robots but also service robots are being developed. There are robots such as business use, medical use, and home use for service robots. These require sophistication of intellectual behavior, development of dexterity, and user affinity.

Therefore, we focused on user affinity in this research. The functions required for robots to realize user affinity include those that do not get bored by the user, that the user has a sense of affinity, and that heal is given to the user. In this research, we focused on animals such as "dogs" and "cats" that satisfy these matters in real life, and thought that if we can give the robot "consciousness, behavior, facial expression" of animals, we can realize user's affinity.

You can see the actual motion of conbe-I from the following movie. When the green ball set as the favorite thing in advance approaches the robot, the robot is pleased and goes to grab the ball with the arm. On the other hand, when the blue ball set as a dislike in advance approaches the robot, the robot grieves and the arm tries to separate from the ball.

At the 2nd conference of the Tomato Robot Competition participated last year, we won the championship. You can see the state of that competition from the following movie.

Currently this facial expression system is utilized for Interactive Robot.