Bob starts to see Brenda (Lesley Dunlop) in a new light when his friend Dan Spencer (Liam Fox) shares a kiss with her next month.
The unexpected moment between Dan and Brenda takes place at a Bronte literature night that Bob has organised in an effort to meet new women.
Audenshaw revealed: "Brenda has been on the booze all night. Bob and Dan haven't seen her drinking much, but it looks like she's leathered all of a sudden. Brenda just makes a grab for Dan and starts kissing him. Bob thinks, 'Where's this come from?'
"I think Bob's shocked and also he's got that little hint of jealousy. He's got that relationship with Dan where they're both competitive with women anyway, and also Brenda looks really nice on that night. She just seems a bit more lively and a laugh than she has been in the past."
Asked whether he thinks Brenda has caught Bob's eye, the actor replied: "Yeah, I do. Bob and Brenda have been close for a long time and they've been through a lot together after losing Viv and Terry.
"Brenda used to fancy Bob quite a long time ago and he wasn't really interested, but you get to a certain age where you realise that it's not all going to be passion and roses - maybe you just want a bit of companionship.
"Suddenly Bob starts seeing Brenda in a different light."
Emmerdale airs these scenes in January on ITV1.