This paper investigates potential effects of a motivational module on a robotic arm, which is controlled based on the biological-inspired SURE_REACH system. The motivational module implements two conflicting drives: a goal-location drive and a characteristic-based drive. We investigate the interactions and scaling of these partially competing drives and show how they can be properly integrated into the SURE_REACH system. The aim of this paper is two-fold. From a biological perspective, this paper studies how motivation-like mechanisms may be involved in behavioral decision making and control. From an engineering perspective, the paper strives for the generation of integrated, self-motivated, live-like artificial creatures, which can generate self-induced, goal-oriented behaviors while safely and smartly interacting with humans.