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Household robots are becoming commonplace. The application of social cues, such as emotion, has the potential to make such robots easier to use and understand. However, it remains unclear how household robots can or should display emotion, and what considerations should be given to emotive behavior regarding the expected set of contexts in which the robot will operate. In this paper, we report the results of our systematic evaluation of context and emotion recognition of a non-anthropomorphic robot, the iRobot Roomba. Considerations, implications, and future work are discussed.