Human Robot collaborative task achievement requires adapted tools and algorithms for both decision making and motion computation. The human presence as well as its behavior must be considered and actively monitored at the desicional level for the robot to produce a legible set of actions. Additionally , having a human within the robot range of action introduces security constraints as well as confort consideration which must be taken into account at the motion planning level. This paper presents a robotic architecture adapted to human robot interaction and focuses on two tools: a human aware manipulation planner and a supervision system dedicated to collaborative task achievement.