The objective of this work is to develop a new robot intelligence for human-machine communication and environment-machine interaction based on the self-preservation function which should be involved in human mind. In this paper, the system chart expressing the human brain information processing, and the development of an autonomous mobile robot “WAMOEBA-1R” (Waseda Artificial Mind On Emotion BAse) are described. The concept of the WAMOEBA-1R design is that robots should have Self-Preservation Evaluation Function as an emotion function. Further more, the method to evaluate the whole system are described from the viewpoint of the animal psychology. As a result of the experiments, WAMOEBA-1R showed specific reactions with color emotion appearances to some simulations. WAMOEBA-1R had the sense of values about colors and sounds based on Self-Preservation, and achieved new type human-machine communications by expressing an emotion color.