We present a domestic robot assistant system designed around the objective to enable flexible and robust behavior in human centered environments. Emphasis is put on integration of different domains of abilities into a common framework to study techniques for robust and flexible human-robot interaction and general proactive decision making under uncertainty. The robotic system is designed to be fully autonomous and combines capabilities from the domains of navigation, object manipulation and multi-modal human-robot interaction. It is able to perform some typical missions in real world environments.