Abstract: Humanoid expression robot with emotion is as one of hot topics in robot rscarch. To this area, summarization was given. First, after pectination of the road of research on emotional humanoid expression robot, related theories and technologies of representative robot were summarized synoptically. In additon, their system construction, mechanical structure, sensors, controlling system and another features were compared and analyzed. Second, theories and technologies to this area, such as facial action coding system, artificial psychology and artificial emotion, sensoring technlogy, image processing, voice recognization and synthesis were expounded in detail. Based on these, some future research directions to several existing problems were proposed. Lastly, developing of humanoid expression robot with emotion was forecasted.

Key words: Robot, Expression robot, Emotion, Interaction