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The topic of joint actions has been deeply studied in the context ofHuman-Human interaction in order to understand how humans cooperate. Creatingautonomous robots that collaborate with humans is a complex problem, where itis relevant to apply what has been learned in the context of Human-Humaninteraction. The question is what skills to implement and how to integrate themin order to build a cognitive architecture, allowing a robot to collaborateefficiently and naturally with humans. In this paper, we first list a set ofskills that we consider essential for Joint Action, then we analyze the problemfrom the robot's point of view and discuss how they can be instantiated inhuman-robot scenarios. Finally, we open the discussion on how to integrate suchskills into a cognitive architecture for human-robot collaborative problemsolving and task achievement.

Some essential skills and their combination in an architecture for a cognitive and interactive robot