This paper presents part of an on-going project to integrate perception, attention, drives, emo-tions, behavior arbitration, and expressive acts for a robot designed to interact socially with humans. We present the design of a visual at-tention system based on a model of human vi-sual search behavior from Wolfe (1994). The attention system integrates perceptions (mo-tion detection, color saliency, and face pop-outs) with habituation effects and influences from the robot’s motivational and behavioral state to create a context-dependent attention activation map. This activation map is used to direct eye movements and to satiate the drives of the motivational system. 1
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