As the development of smart biped robots has been thriving, research and development of personal robots with unique personalities will become an important issue in the next decade. For instance, we might want to have robots capable of affording us pleasure by chatting, singing or joking with us in our homes. Most of these functions are realized by verbal communications. However, motion of a whole body, namely non-verbal communication, also plays an important role. We can get information concerning the personality of a subject when we observe his or her body motion. We may receive various impressions through their body motions. This means that human body movements convey.
