Considering that emotion is part of human communication; this thesis investigates a way of using emotion into a personal robot to enrich the communication with humans. This is used by the robot to trigger user`s interaction. Seven typologies of human robot interaction triggered by emotions are presented together with thirteen scenarios for exemplification. The modification of the existing framework is introduced to show emotional inclusion in the planning system of robot as part of mixed-initiative. Decomposition of planning in three modes of interaction is presented to capture the different triggering types proposed. For planning, scripts are used with the inclusion of conceptual dependency corpus and frame to simplify robot planning with a description of the modifications that the emotion adds. The research implements the scenario types with the approach proposed and presents and analyses of it.