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We shift the focus in robot models of emotion from information-theoretic aspects of appraisal to the interactive significance of bodily dispositions. Typical emotional phenomena such as arousal and action readiness can be interpreted as morphofunctional processes, and their functionality may be replicated in robotic systems with morphologies that can be modulated for real-time adaptation. We investigate the control requirements for such systems, and present a possible bio-inspired architecture, based on the division of control between neural and endocrine systems in humans and animals. We suggest that emotional episodes can be understood as emergent from the coordination of action control and action-readiness, respectively. This stress on morphology complements existing research on the information-theoretic aspects of emotion.<\/jats:p>","DOI":"10.1177\/1059712312451604","type":"journal-article","created":{"date-parts":[[2012,7,17]],"date-time":"2012-07-17T09:08:49Z","timestamp":1342516129000},"page":"388-404","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["The morphofunctional approach to emotion modelling in robotics"],"prefix":"10.1177","volume":"20","author":[{"given":"Carlos","family":"Herrera P\u00e9rez","sequence":"first","affiliation":[{"name":"Autonomous Systems Laboratory, Universidad Polit\u00e9cnica de Madrid, Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mar\u00eda Guadalupe","family":"S\u00e1nchez-Escribano","sequence":"additional","affiliation":[{"name":"Autonomous Systems Laboratory, Universidad Polit\u00e9cnica de Madrid, Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ricardo","family":"Sanz","sequence":"additional","affiliation":[{"name":"Autonomous Systems Laboratory, Universidad Polit\u00e9cnica de Madrid, Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2012,7,16]]},"reference":[{"key":"bibr1-1059712312451604","doi-asserted-by":"publisher","DOI":"10.1016\/j.tics.2004.10.004"},{"key":"bibr2-1059712312451604","doi-asserted-by":"publisher","DOI":"10.1080\/00207727008920220"},{"key":"bibr3-1059712312451604","volume-title":"Proceedings of Agents that Want and Like: Motivational and Emotional Roots of Cognition and Action","author":"Avila-Garc\u00eda O.","year":"2005"},{"key":"bibr4-1059712312451604","doi-asserted-by":"publisher","DOI":"10.1007\/11553090_13"},{"key":"bibr5-1059712312451604","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-44811-X_43"},{"key":"bibr6-1059712312451604","doi-asserted-by":"publisher","DOI":"10.1007\/s10710-005-7618-x"},{"key":"bibr7-1059712312451604","doi-asserted-by":"publisher","DOI":"10.1097\/00007611-192909000-00037"},{"key":"bibr8-1059712312451604","doi-asserted-by":"publisher","DOI":"10.1145\/267658.267688"},{"key":"bibr9-1059712312451604","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2005.03.003"},{"key":"bibr10-1059712312451604","doi-asserted-by":"publisher","DOI":"10.1093\/bjps\/53.4.511"},{"key":"bibr11-1059712312451604","unstructured":"Cliff D., Husbands P., Harvey I. 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