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Quick Answer. In Aristotle's ethical work, Nicomachean Ethics, he describes human nature as having rational and irrational psyches as well as a natural drive for creating society, gaining knowledge, finding happiness and feeling connected with God.
Alcidamas, at the same time as Aristotle, took the view:  nature has made nobody a slave. In parallel, the concept that all men, whether Greek or barbarian, belonged to the same race was being developed by the Sophists and thus that certain men were slaves although they had the soul of a freeman and vice versa.