A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set...http://www.google.fr/patents/US7151983?utm_source=gb-gplus-shareBrevet US7151983 - Robot apparatus
