Aimed at the difficult problems in emotion modelling,methods of artificial emotion modelling including OCC model,agent model,fuzzy logic model and so on and their application were analyzed.Then an emotion model based on EFSM was proposed,in which the variable set V was defined to offer the data for the behavior of robot.The EFSM emotion model can obtain emotional information accurately,realize the description,parametric modeling,and theoretical calculation of the emotion with multi-feature fusion.The experimental study verifies the effectiveness of the model.