Avoidance plannings of robots considering human emotions are discussed in this paper. When a robot avoids a human in the same workspace, two conditions should be satisfied in the avoidance motion. That is, the robot should keep desirable distance to the human and the motion trajectory should have smooth profiles, which gives human good impressions. From this point of view, a simple control rule of a robot in which the robot follows human motion keeping a desirable distance (following distance) is adopted first. Relation between the following distance and task speed of the robot, and human emotion is psychologically evaluated using a two dimensional robot. Next, an improved control method in which the results of the psychological evaluation are used for determining the following distance is considered using fuzzy inference. The effectiveness of the control method is experimentally clarified.