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The ultimate long-term goal in Human-Robot Interaction (HRI) is to design robots that can act as a natural extension to humans. This requires the design of robot control architectures to provide structure for the integration of the necessary components into HRI. This paper describes how HBBA, a Hybrid Behavior-Based Architecture, can be used as a unifying framework for integrated design of HRI scenarios. More specifically, we focus here on HBBA's generic coordination mechanism ofdoi:10.1515/pjbr-2017-0006 fatcat:igqxww6jabh7vicjqs3z5gxpku