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1. Emotion and Embodiment
On the Role of Emotion in Embodied Cognitive Architectures
: from Organisms to Robots
- Tom Ziemke, Robert Lowe (2009)
DongNyeok Jeong

2. Emotion and Cognition
• Emotion
1. A natural instinctive state of mind deriving from one's
circumstances, mood, or relationships with others.
2. Any of the particular feelings that characterize such a
state of mind, such as joy, anger, love, hate,
horror, etc.
• Cognition
1. The mental process of knowing, including aspects
such as awareness, perception, reasoning, and
judgment.
2. That which comes to be known, as through perception,
reasoning, or intuition; knowledge.

3. Introduction
• Closely connected to embodied cognition
• Grounded in homeostatic bodily regulation
• A powerful organizational principle—
affective modulation of behavioral and
cognitive mechanisms—that is ‘useful’ in
both biological brains and robotic cognitive
architectures

4. Introduction
• Historical background
• Amygdala
(1) How stimuli acquire emotional properties
(2) How emotion influences the formation and recollection of episodic
memory
(3) Emotion’s influence on attention and perception, facilitated by the
amygdala’s extensive connectivity with sensory processing regions
(4) The recognition of emotional facial expressions
(5) The influence of higher cognitive functions on emotional processing

5. Introduction
• ‘‘mechanisms of emotion and cognition
appear to be intertwined at all levels,’’
• ‘‘understanding of human cognition
requires the consideration of emotion.’’

6. Organisms and Emotions in
Cognitive Science
Damasio and Panksepp

7. Organisms and Emotions in
Cognitive Science
• Internal Robot
• The inside of the body of organisms and to
study the interactions of the robot’s control
system with what is inside the body
• Basic Emotions
• anger, disgust, fear, happiness, sadness, surprise
• Limbic emotional action system

8. Organisms and Emotions in
Cognitive Science
• its role in the behavioral
organization of individual agents
(attention, learning, action
selection, decision-making),
rather than the ‘external’ aspects
of emotion (expression and
recognition) involved in social
coordination and communication.

9. Who needs Emotion,
and What for?
• Emotional systems enable animals to more
effectively explore and interact with
their environment, eat, drink, mate, engage in
self-protective and defensive behaviors, and
communicate.
• Each emotion is both an internal body monitor
and a detector of dangers, threats, losses, or other
matters of concern.

10. Who needs Emotion,
and What for?
• “As-if body loop”
• A neural internal simulation
• “emotions cannot be seen as mere ‘coloration’ of
the cognitive agent, understood as a formal or un-
affected self, but are immanent and inextricable
from every mental act.’’

11. Emotion in Embodied
cognition architectures
Damasio
Prescott TJ et al., control architectures
in robots and vertebrates

12. Emotion in Embodied
cognition architectures
Based on LeDoux JE., Emotion circuits in the brain.
Pessoa’s conceptual proposal

13. Emotion in Embodied
cognition architectures
• dopamine
: working memory systems essential for linking
emotion, cognition and consciousness
• serotonin
: among other functions, behavioral state
regulation and arousal, mood, motor pattern
generation, learning and plasticity
• opioids
: responses to pain and stress, endocrine
regulation and food intake

14. Embodied cognitive-affective
architecture