How to build a robot that feels

Abstract
Overview. Consciousness is often considered to have a "hard" part and a not-so-hard part. With the help of work in artificial intelligence and more recently in embodied robotics, there is hope that we shall be able solve the not-so-hard part and make artificial agents that understand their environment, communicate with their friends, and most importantly, have a notion of "self" and "others". But will such agents feel anything? Building the feel into the agent will be the "hard" part.
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