@incollection{Berns09,
author = {Jochen Hirth and Karsten Berns},
title = {Emotion-based Architecture for Social Interactive Robots},
booktitle = {Humanoid Robots},
publisher = {IntechOpen},
address = {Rijeka},
year = {2009},
editor = {Ben Choi},
chapter = {6},
doi = {10.5772/6724},
url = {https://doi.org/10.5772/6724}
}