  Collaborative human activities are grounded in social and moral norms, which
humans consciously and subconsciously use to guide and constrain their
decision-making and behavior, thereby strengthening their interactions and
preventing emotional and physical harm. This type of norm-based processing is
also critical for robots in many human-robot interaction scenarios (e.g., when
helping elderly and disabled persons in assisted living facilities, or
assisting humans in assembly tasks in factories or even the space station). In
this position paper, we will briefly describe how several components in an
integrated cognitive architecture can be used to implement processes that are
required for normative human-robot interactions, especially in collaborative
tasks where actions and situations could potentially be perceived as
threatening and thus need a change in course of action to mitigate the
perceived threats.
