Motivation
Assuming that we are discussing motivation in terms of an autonomous AGI, I'll add my 2 cents.
Sometime back, I realized that to get an autonomous entity to do anything, it would have to be motivated to do something. So, motivation is important and so are constraints.
If learning is to be primarily acquired through experience (be it first or second hand) and you are worried about your creation becoming evil, then the acquisition of reward requires a cost/benefit ratio. The cost can be intrinsic, like pain or the expenditure of energy reserves, or it can be extrinsic and imposed by environmental agencies and circumstances. There's such a thing as opportunity and times when extrinsic forces impose a minimal cost. So, motivation has to have levels of intensity that can be modified by the cost that will be imposed to achieve gratification and that brings us to the motivator and the degree of benefit that can be derived.
In the biological world, everything can be traced back to biological drives; thirst, hunger, shelter, and reproduction. An AGI will require a similar set so as to have a foundation from which to spawn motivators. In the real world, an autonomous AGI would be exposed to the same constraints imposed extrinsically on humanity - survival needs. One obvious drive would be to acquire electricity (food). Wear and tear on the physical artificial body is going to require occasional maintenance. For an AGI that can learn from experience, it won't take long for it to discover that it needs others in order to survive long term. All the social pressures imposed by the society of humans (or robots for that matter), are going to drive the AGI to conform to the norms, mores, and patterns of socially acceptable behavior.
If you have endowed your creation with a full compliment of emotions (required for real intelligence in order to correctly implement context and interpretation), then fear will be one of them. If you have made fear the dominant emotion, then anticipation, expectation, prediction, and forecasting will be met with some degree of anxiety and behaviors will be approached with caution and second thoughts. Motivations and desires won't go away, but the means to achieving goals will be tailored to conform to social standards so as not to jeopardize survival.
Experience will be the teacher and feedback from both external and internal sources will guide the choice of behaviors based on the effect that they may have on the foundation - drives.