The video presents in a didactic way several abilities and algorithms required to achieve interactive "pick and give" tasks in a human environment. Communication between the human and the robot relies on unconstrained verbal dialogue, the robot uses multi-modal perception to track the human and its environment, and implements real-time 3D motion planning algorithms to achieve collision-free and human-aware interactive manipulation. We tackle here the issue of natural and legible behaviour for a robot intended to live in domestic environment, amongst human peers. Natural because we aim at unconstrained spoken English mixed with gestures and perspective taking to communicate with the robot ; legible because we apply human-aware motion planning algorithms that ensure a smooth human-robot interaction by accounting for implicit social rules which appear in placement or approach strategies.