A lot of progress have been made in the domain of human-machine dialogue, but it is still a real challenge and, most often, only informative cooperative kind of dialogues are explored. This paper tries to explore the ability of a robot to create and maintain a long-term social relationship through more advanced dialogue techniques. We expose the social (Goffman), psychological (Scherer) and neural (Mountcastle) theories used to accomplish such kind of complex social interactions. From these theories, we build a consistent model, computationally efficient to create a robot that can understand the concept of lying and have compassion: a robotic social companion.