Emotions are important in many aspects of human behavior. Emotions are displayed on human faces, they are reflected in human memory, and they even influence human intelligence. The creation of robots that try to mimic humans arises the question of how the concept of emotion can be transferred to robots. There is no unique answer to the question, however many robots that leverage emotions exist. By summarizing the work done on these robots we try to enlighten the relations between robots and emotions from several perspectives. We first identify how artificial emotion can be defined in a robotic system. Next, we investigate the possible roles of emotions in robotic behavior models and analyze different implementations of the concept of emotion in these models. Finally, we elaborate on the evaluation of how emotions influence human-robot interaction. For this purpose, we qualitatively analyzed a selected set of robots that include emotions in their model. Considering the diversity of state-of-the-art approaches to using emotions in robots, we try to present the findings in a structured and comprehensive way that could be valuable for future researchers.

情绪在人类行为的许多方面都很重要。情绪显示在人的脸上，反映在人类的记忆中，甚至影响人类的智力。试图模仿人类的机器人的出现提出了如何将情感概念传递给机器人的问题。这个问题没有唯一的答案，但是存在许多利用情绪的机器人。通过总结在这些机器人上所做的工作，我们尝试从多个角度启发机器人与情绪之间的关系。我们首先确定如何在机器人系统中定义人工情感。接下来，我们研究情绪在机器人行为模型中的可能作用，并分析这些模型中情绪概念的不同实现。最后，我们详细阐述了情绪如何影响人机交互的评估。为此，我们定性分析了一组选定的在模型中包含情绪的机器人。考虑到在机器人中使用情绪的最新方法的多样性，我们尝试以结构化和全面的方式介绍研究结果，这可能对未来的研究人员有价值。