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Humanoid robots that share the same space with humans need to be socially acceptable and effective as they interact with people. In this paper we focus our attention on the definition of a behavior-based robotic architecture that (1) allows the robot to navigate safely in a cluttered and dynamically changing domestic environment and (2) encodes embodied non-verbal interactions: the robot respects the users personal space (PS) by choosing the appropriate distance and direction of approach. The model of the PS is derived from human–robot interaction tests, and it is described in a convenient mathematical form. The robot's target location is dynamically inferred through the solution of a Bayesian filtering problem. The validation of the overall behavioral architecture shows that the robot is able to exhibit appropriate proxemic behavior.