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Pages 19-26
First published 2 September 2013

The role of arousal in embodying the cueXdeficit model in multi-resource human-robot interaction

Kiril Kiryazov, Robert Lowe


In this paper is investigated the problem of managing limited resources in human-robot interaction with a computational architecture of emotion. The architecture is based on the appraisal theory of affect and an ethological motivational model of task selection. Key variables and performance criteria for robotic energy autonomous behaviour in interaction with humans are discussed. The role of arousal for modulating effort of movement is explored. It is shown that the architecture can manage task selection and the effort of the movement and offers sustainable basic-cycles in exemplar "two-resource problem" test-bed scenarios for an iCub robot. An extension of the architecture with a third "resource"—safety—is presented and how the architecture is able to solve the new "three-resource" problem is demonstrated.