An apparatus for the learning emotion of a robot includes an internal state calculation unit for detecting external environment information and calculating an internal state vector value for one point of an internal state coordinate system; an emotion decision processing unit for generating an emotion value within each emotion value group, indicated by the coordinates of the internal state input value of the robot on the coordinate system, as an emotion of the robot; a behavior generation unit for deciding the behavior of the robot based on the decided motion value and making an emotional expression; and an emotion learning unit for generating feedback information on the emotion value, corresponding to one point of the coordinate system, based on the decided emotion value and information on the type of emotion from a user input unit and changing an emotion probability distribution of the coordinate system using the feedback information.