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In this paper, I will argue for a three-dimensional approach to cooperation. On this approach, any cooperative phenomenon can be located on the continua of (i) a behavioural axis, (ii) a cognitive axis, and (iii) an affective axis. For example, cooperation can be located on a behavioural axis, ranging from complex to simple coordinated behaviours. The cognitive requirements of cooperation are, according to this model, a matter of degree: they range from cognitively demanding cooperative activities involving shared intentions that presuppose sophisticated social cognitive skills such as having a theory of mind, to basic forms of cooperation like intentional joint attention. Finally, cooperative activities may be influenced by (shared) affective states. The three-dimensional approach trumps alternatives insofar as it facilitates dialogue among disciplines. For example, as I will show, it allows us to determine whether and to which extent particular skills and capacities are implementable in robots and to identify cases in which human-robot cooperation differs in one way or another from human-human cooperation.
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