Pepper says: “I spy with my little eye”

The deployment of robots as social gamers offer a wide spectrum to test the usability of complex behaviors. Social robots need to commit with social rules and show gaze related behaviors in order to facilitate communication and reciprocity. In this vein, joint attention is basic to engage users to interact with robots. This paper describes a visual focus of attention extraction module that is further on used to play “I see with my little eye” with Pepper. The degree of sociability of the robot is incremented with head motion that gives the illusion of joint attention, together with deception production and detection capabilities, body expression and some degree of initiative to start the game. The robot global ability is evaluated by a population of $\mathrm{N}=15$ participants that reveal that the main discomfort is generated not by the lack of precision of the gaze estimation module. This dis-function is assumed as part of the game, the robot is allowed to make mistakes, contrary to dialogue manager system that guides the game. Not being understood by the robot generates frustration.