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Nevertheless, neuroscience and artificial intelligence face the challenge of representing and emulating animal behaviour in robots. Consequently, this paper presents a biologically inspired motivational model to control the biological functions of autonomous robots that interact with and emulate human behaviour. The model is intended to produce fully autonomous, natural, and behaviour that can adapt to both familiar and unexpected situations in human\u2013robot interactions. The primary contribution of this paper is to present novel methods for modelling the robot\u2019s internal state to generate deliberative and reactive behaviour, how it perceives and evaluates the stimuli from the environment, and the role of emotional responses. Our architecture emulates essential animal biological functions such as neuroendocrine responses, circadian and ultradian rhythms, motivation, and affection, to generate biologically inspired behaviour in social robots. Neuroendocrinal substances control biological functions such as sleep, wakefulness, and emotion. Deficits in these processes regulate the robot\u2019s motivational and affective states, significantly influencing the robot\u2019s decision-making and, therefore, its behaviour. We evaluated the model by observing the long-term behaviour of the social robot Mini while interacting with people. The experiment assessed how the robot\u2019s behaviour varied and evolved depending on its internal variables and external situations, adapting to different conditions. The outcomes show that an autonomous robot with appropriate decision-making can cope with its internal deficits and unexpected situations, controlling its sleep\u2013wake cycle, social behaviour, affective states, and stress, when acting in human\u2013robot interactions.<\/jats:p>","DOI":"10.1007\/s12293-023-00390-3","type":"journal-article","created":{"date-parts":[[2023,5,13]],"date-time":"2023-05-13T07:02:24Z","timestamp":1683961344000},"page":"237-257","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["A motivational model based on artificial biological functions for the intelligent decision-making of social robots"],"prefix":"10.1007","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9576-1731","authenticated-orcid":false,"given":"Marcos","family":"Maroto-G\u00f3mez","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2317-3329","authenticated-orcid":false,"given":"Mar\u00eda","family":"Malfaz","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5189-0002","authenticated-orcid":false,"given":"\u00c1lvaro","family":"Castro-Gonz\u00e1lez","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0263-6606","authenticated-orcid":false,"given":"Miguel \u00c1ngel","family":"Salichs","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,5,13]]},"reference":[{"issue":"3","key":"390_CR1","doi-asserted-by":"publisher","first-page":"858","DOI":"10.1038\/npp.2015.212","volume":"41","author":"EM Achterberg","year":"2016","unstructured":"Achterberg EM, Van Kerkhof LW, Servadio M et al (2016) Contrasting roles of dopamine and noradrenaline in the motivational properties of social play behavior in rats. 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