Patent US 6,714,840

A user information input structure that inputs user information, a memory structure that stores user's bearing information as robot's bearing pattern, and a regenerating structure that regenerates the pattern based on the information input to the user information input structure. A behavior selection and determination structure for selecting and deciding behaviors based on user information, a user information recognition structure for recognizing a user, a memory structure for storing the recognized user information, a calculating structure for comparing the recognized user information with the stored user information to calculate user recognition, and a compensating structure for compensating a selection and determination method in the behavior selection and determination structure in accordance with the calculated user recognition. An actuator for driving a robot, a detection structure for detecting user information and environment information, a feelings generation structure for generating artificial feelings for a robot based on the detecting user and environment information, and a behavior determination structure for determining behaviors by the robot based on the generated artificial feelings, wherein the behavior determination structure controls the actuator so that a resistance acted on the robot may be changed on tactile information the user has applied to the robot.