Abstract: To make communication more natural between robot and human,a robot emotion decision-making model based on tasks is proposed,and a mapping from multiple perception inputs to multiple behavior outputs is established.The PAD(pleasure-arousal-dominance) emotion space description considering individual factors is applied to describing the robot emotion.Based on normal distribution prototype,the behavior mapping mode combining probability with emotion is adopted so that the decision variables of decision-making model are influenced by random factors and emotion factors,which ensures the output behaviors to accord with human emotion variation.The experiment results on the Fuwa robot platform verify the validity and practicality of the method.