I think some cross cultural human studies might be a way of starting to answer this question. Looking at autists, or other non-neurotypical minds, would also be helpful. Studying sociopaths or psychopaths would also be important (they pass our society's behaviour filters, and yet misbehave). The errors of early AGIs (as long as they're left unpatched!!!) will also be very revealing, and let us try and trace the countours of non-human minds, and get insights into human minds as well. Formal philosophical measures (what kind of consistent long term behaviours can exist in theory?) may also help.
More ideas will no doubt spring to mind - if you want, we can design a research program!
At the current AGI-12 conference, some designers have been proponents of keeping AGI's safe by bringing them up in human environments, providing them with interactions and feedback in a similar way to how we bring up human children. Obviously that approach would fail for a fully smart AGI with its own values - it would pretend to follow our values for as long as it needed, and then defect. However, some people have confidence if we started with a limited, dumb AGI, then we could successfully inculcate our values in this way (a more sophisticated position would be that though this method would likely fail, it's more likely to succeed than a top-down friendliness project!).
The major criticism of this approach is that it anthropomorphises the AGI - we have a theory of children's minds, constructed by evolution, culture, and our own child-rearing experience. And then we project this on the alien mind of the AGI, assuming that if the AGI presents behaviours similar to a well-behaved child, then it will become a moral AGI. The problem is that we don't know how alien the AGI's mind will be, and if our reinforcement is actually reinforcing the right thing. Specifically, we need to be able to find some way of distinguishing between: