摘要： 为了实现机器人与人的和谐交互，该文给出了基于Multi-agent的情感机器人结构模型，提出了机器人情感交互模型构建方法，介绍了基于灰色系统的情感模型和情感关联模型，构造了机器人学习模型，实现了情感机器人交互系统，结果表明机器人能够和人进行有智能和情感的交互。

关键词: 情感交互, Multi-agent, 灰色系统, 人工心理, 机器人

Abstract: For human users interacting with computers in a harmonious way, this paper conceives a structure model of affective robot based on multi-agent. The modeling methods of affective interaction are proposed. It introduces affective model and affective correlation model based on grey system, and shows the robot’s learning model. The models are experimented on the robot platform, and the results prove that robot has the ability of affective and intelligent interaction.

Key words: Affective interaction, Multi-agent, Grey system, Artificial psychology, Robot