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For implementing ethologically inspired robot behavior in this paper a platform based on fuzzy automaton (fuzzy state-machine) is suggested. It can react the human intervention as a function of the robot state and the human action. This platform is suitable for implementing quite complicated action-reaction sequences, like the interaction of human and an animal, e.g. a behavior of an animal companion to the human. The suggested fuzzy model structure built upon the framework of low computational demand Fuzzy Rule Interpolation (FRI) methods and fuzzy automaton. For demonstrating the applicability of the proposed structure, some components of an action-reaction FRI model, will be briefly introduced in this paper.