We are interested in the development of an entertaining robotic companion integrated and accepted within house- holds. To respond to the essential physical, mechanical and behavioral constraints, a project called Robot Populi has just been launched. The project is interested in devel- oping a robotic advanced platform for innovative interac- tive applications (games, organizer, assistance...). More precisely, our main goal, in this project, concerns the de- velopment of a software architecture that allows the robot to adapt his behavior to the users. In this context, we are particularly interested in integrating in the robotic sys- tem emotional expressed reactions that are customized to the situation. As a result, these more natural interactions should be more easily accepted.