In a nutshell, this dissertation builds a bridge between an informal psychological model of emotions on the one hand, and implementation of emotions in robots and virtual characters on the other hand. This is done by formalizing a psychological model of emotions. With that we1 mean translating the concepts used in the psy- chological model to a logical language with unambiguous semantics. The resulting formalization of emotions will give rise to theorems that can be proved to be true. These theorems (...) are properties of the formal model and can be checked against the original psychological model of emotions. If they match, this will mean that the formalization is truthful with respect to the psychological model. The description of the model of emotions in this formal language can then be used as a foundation for implementing emotions in robots and virtual characters. (shrink)