Who Needs Emotions? The Brain Meets the Robot

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obot emotion 289 ter 5 (Rolls). Hence, the affective contributions of the drives do not directly evoke emotive responses, but they do bias the robot’s net affective state. In this sense, the drives contribute to the robot’s “mood” over time, which makes the corresponding emotive responses easier to elicit. Drives shape the internal agenda of the robot (in concert with perceptual and emotive factors) and play an important role in determining which behavior to next engage. To keep its activation level within the homeostatic regime, each drive can preferentially spread activation to behaviors at the top level of the behavior hierarchy that help to restore that drive (described in detail in the following section). Behaviors, in turn, encode specific task-achieving goals that serve to maintain the robot’s internal state (as defined by the state of the drives and “emotions”). To remain in balance (near the center of the spectrum), it is not sufficient that the satiatory stimulus merely be present; it must also be of good quality. For instance, in the absence of the satiatory stimulus (or if the intensity is too low), a drive increases in intensity to the positive end of the spectrum and preferentially biases the activation of those behaviors that seek out that stimulus. In addition, the affective contribution of the drive (negative valence and low arousal) contributes to a net affective state that makes it easier for the sorrow emotive response to become active. Sorrow represents a different strategy to help the robot come into contact with a desired stimulus by signaling to people that it needs attention. Alternatively, if the satiatory stimulus is too intense (e.g., a visual stimulus moving too fast or too close to the robot’s face), a drive tends toward the extreme negative end of the spectrum. In this circumstance, the drive biases the activation of avoidance behaviors to limit the robot’s exposure to the intense stimulus. Also, the affective contribution of the drive (negative valence, high arousal) contributes to a net affective state that makes it easier for Kismet’s fear response to become active. Once active, the fearful expression on Kismet’s face signals people to back off a bit. Hence, the drives work in concert with behaviors and contribute to an affective state that helps Kismet keep its level of interaction with the world and people in balance, neither too much nor too little. Behavior Arbitration as Decision Making Within the behavior system, the behavior processes are organized into loosely layered, heterogeneous hierarchies of behavior groups (see Fig. 10.4), much in the spirit of those ethological models proposed by Tinbergen (1951) and Lorenz (1973). Implicit in this model is that a decision is being made among several alternatives at every level of the hierarchy, of which one is chosen.
290 robots Undesired stimulus Reject toy Intense or bad Avoid stim. Threat stimulus Escape People present Good people Engage people Annoying stimulus Withdraw Functional Groups No people Seek people Distant person Call to person Social Drive Satiate Social New & close person Greet person Talking & close face Vocal play Satiate Fatigue No stimuli Sleep Fatigue Drive Stimuli present Quiet down Close & quiet person Attentive regard Stimulation Drive Satiate Stimulation Good Toy & vocal present Play with toy Good toy present Decisions are very general at the top of the hierarchy (which drive to satiate) and become increasingly more specific as one moves down the hierarchy. At the topmost level, behaviors are organized into competing functional groups (i.e., the primary branches of the hierarchy, of which there are three in Kismet). Each functional group is responsible for maintaining one of the three homeostatic functions, and only one functional group can be active at a time. This property is inspired by animal behavior, where an animal en- No toy Seek toys Orient to toy Toy present Good toy Engage toy Undesired Stimulus Reject face Functional Group Behavior Group Intense or bad Avoid stim. Threat Stimulus Escape Annoying Stimulus Withdraw Figure 10.4. Schematic of Kismet’s behavior hierarchy that resides within the behavior system of the cognitive–affective architecture. The affective factors for each behavior (both inputs and outputs) are not shown. Dashed arrows represent connections to the motor system. Input from the drives feeds into the top level of the hierarchy, as shown by the dark gray boxes with rounded edges. Functional groups are represented as the major branches of the hierarchy. For instance, the functional group for satiating Kismet’s drive to interact with toys is highlighted. Behavior groups are shown as light gray boxes with rounded edges, containing competing behaviors (white boxes with rounded edges) and their perceptual elicitors (dark gray boxes).
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TLFeBOOK Who Needs Emotions? The Br
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The Nature of Emotion: Fundamental
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3 Oxford University Press, Inc., pu
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vi preface want their computer prog
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viii preface is required because th
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x preface prefer to read Part III b
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xii contents PART III: ROBOTS 7 Aff
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xiv contributors Jean-Marc Fellous
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4 perspectives RUSSELL: I confess t
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6 perspectives EDISON: Tinkering! Y
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10 perspectives HOW COULD WE TELL I
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12 perspectives This, of course, ra
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14 perspectives of a stimulus (e.g.
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16 perspectives an emotion is neith
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18 perspectives cognitive processes
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20 perspectives that they visually
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22 perspectives A self-model that c
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24 perspectives Brothers, L. (1997)
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30 brains specificity and flexibili
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32 brains It is useful to begin wit
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34 brains the readout of that syste
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36 brains A. 5 NH 4Cl Bacteria in c
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38 brains Although instinctual beha
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40 brains Motivated behavior requir
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42 brains emerged through decades o
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44 brains and gonadal and adrenal s
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46 brains voluntary control of acti
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48 brains A. Total cerebral input t
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50 brains sensory neurons, interneu
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52 brains functions. Niall (1982) n
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54 brains motivation arousal necess
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56 brains serotonergic system is pr
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58 brains as tree jumping (Doudet e
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60 brains then have a system that a
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62 brains heroin and other opiates,
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64 brains benefits that also presen
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66 brains and brain neurotransmitte
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68 brains Cardinaud, B., Gilbert, J
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70 brains Hess, W. R. (1957). The f
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72 brains MacLean, P. D. (1990). Th
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74 brains Pfaus, J. G., Damsma, G.,
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76 brains trained monkeys: Agonist
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80 brains We conclude by discussing
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82 brains to prove, theoretical dis
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84 brains is a mammalian specializa
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86 brains processing circuits to se
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88 brains amygdala) and the control
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90 brains comparison of the amygdal
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92 brains Is the Amygdala Necessary
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94 brains the amygdala to determine
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96 brains The medial prefrontal cor
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98 brains Many questions remain to
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100 brains by the amygdala might be
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102 brains United States, pair up w
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104 brains networks that participat
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106 brains Note Portions of this ch
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108 brains Davidson, R. J., & Irwin
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110 brains mediate emotional respon
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112 brains Salinas, J. A. (1995). I
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114 brains and thalamo-cortico-amyg
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118 brains and flexible in the orbi
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120 brains Pleasure Rage Anger Frus
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122 brains of the eliciting stimulu
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124 brains or a right turn to obtai
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126 brains cortex and basal ganglia
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128 brains tex of recent (episodic)
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130 brains the right value in the c
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132 brains by the process of condit
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134 brains memories to be held in p
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136 brains However, it may be expec
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138 brains Figure 5.4. Some of the
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140 brains acting through the ventr
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142 brains (cutting white matter) w
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144 brains References Alexander, R.
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146 brains Rolls, E. T. (1999a). Th
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148 brains directed to us or when t
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150 brains Specific methods, partly
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152 brains Movements performed by l
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154 brains processing of invariant
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156 brains more about them, their r
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158 brains see Zajonc, 1985), the i
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160 brains The question now arises
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162 brains situations where they ha
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164 brains Estimation of social con
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166 brains Davies, M., & Stone, T.
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168 brains Lhermitte, F. (1983). Ut
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174 robots perform unanticipated ta
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176 Table 7.1. Principal Organism F
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178 robots and cognitive domains. A
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180 robots that they are better tho
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182 robots irregularities or discon
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184 robots 3. A (positive) feeling
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186 robots We consider the well-est
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188 robots disturbed by the approac
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190 robots processing. We view para
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192 robots independent, a value on
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194 robots Implications of the Proc
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196 robots current affective state
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198 robots primitive fear at the ro
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200 robots Gray, J. A. (1990). Brai
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202 robots cesses underlying approa
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204 robots case of CogAff, conjectu
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206 robots some cases and in other
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208 robots DIRECT AND MEDIATED CONT
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210 robots Toward a Useful Ontology
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212 robots different varieties of m
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214 robots Primitive sensors provid
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216 robots Being in a state P of a
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218 robots terms of the ability to
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220 robots Varieties of Affective S
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222 robots Central Perception Actio
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224 robots control, where all the l
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226 robots layer (e.g., observing p
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228 robots are sometimes unclear, i
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230 robots for such a fast-acting s
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232 robots from mental processes ot
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234 robots The majority view in thi
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236 robots Will it be a long-term f
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Page 259 and 260: 242 robots References Albus, J. S.,
Page 261 and 262: 244 robots Sloman, A. (2001b). Evol
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Page 265 and 266: 248 robots In order to make robots
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Page 269 and 270: 252 robots Prey acquisition: This b
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Page 273 and 274: 256 robots especially when young. E
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Page 295 and 296: 278 robots For example, the person
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340 conclusions Absence of N and N
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342 conclusions Thus, evolution yie
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344 conclusions different from such
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346 conclusions approach to the soc
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348 conclusions at the much higher
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350 conclusions mediated by distrib
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352 conclusions to the prefrontal c
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354 conclusions pathway of much mor
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356 conclusions The Motivated Toad
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360 conclusions directly and by pro
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362 conclusions striatum pallidum d
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364 conclusions (A) Auditory stimul
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368 conclusions by an interest in u
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370 conclusions he sees as the stat
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372 conclusions to detect possible
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374 conclusions much of my behavior
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376 conclusions Consider a robot th
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378 conclusions 3. As already noted
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380 conclusions Fellous, J.-M., & S
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382 conclusions Localization of gra
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386 index amygdala back projection,
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388 index cognition (continued) evo
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390 index emotion research (continu
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392 index fear conditioning (contin
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394 index limbic system theory, 80-
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396 index prefrontal cortex and the
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398 index schema theory and Jackson
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Who Needs Emotions? The Brain Meets the Robot

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