The combination of three sciences, Mechanics, Electronics and Computer, has created very important and powerful branch in the technology. In robotics research one of the major issues is the humanoids and their interaction modalities with humans. Humans have developed advanced skills in interpreting his emotions to the bodily expressions. If robots can acquire similar skills, it would allow them to generate behaviors that are familiar to us and thus increase their chances of being accepted as partners in our live. In this book the technical design issues of an arm robot (manipulator) as a part of a humanoid have been described in detail. A chapter of the book presents a theory of implementation of emotion in the humanoids. The main goal of this Chapter is to introduce a novel approach for modeling an emotion-based motion generator for humanoids in order to present emotionally expressive styles of movements and emotion mimicry in different situations using Computational Theory of Perception (CTP).