The emotion_expression service can be used to manipulate common gestures on the Nao into more affective gestures.
For the manipulation of neutral gestures into emotion-based gestures, this page will provide an overview of the gestures with evaluation (e.g. stability). Please note that if a gesture is not tested yet, the stability of that gesture is not ensured and do NOT use it for NAO’s safety.
...
< Since this is still being worked on, the overview is not provided yet. >