For most of us it is “normal” to interact with other humans and in particular to use non-verbal communication as a mean to convey intention, emotion and to give a purpose to an interaction. What happens when people are interacting with robots? In this talk I will present some of our latest advances in designing robotics systems that can handle non scripted, ecological interactions. Our research results are used to understand human-machine interactions and human-robot interactions and to create artificial awareness: social awareness, emotional awareness… and aim at creating a seamless intelligent environment that humans and machines could share. The presentation entwines concepts from the fields of AI, robotics, psychology, sociology and philosophy.