In this paper, we propose a novel concept, “Emotionally Grounded Symbol Acquisition”, which is an extended idea of well- studied concept, “Physically Grounded Symbol Acquisition”. We think it is important for an autonomous robot to ground symbols not only on the physical world but also on its emotions. Based on this concept, we propose an Emotionally Grounded Architecture for behavior control, which enables an autonomous robot such as pet- type robot to respond properly to external stimuli based on its own emotional evaluation.