The development of ASTROMOBILE, as an assistant in domestic environments, is more and more devoting and taking care on the production and implementation respectively of a friendly, advanced and effective interface and behaviour,  in order to reach an high level of usability and acceptability by end-users. Three main research line have been investigated in these last months: 1) the design of a physical cover with appropriate appearance and functionalities, 2) the integration with a smart environment infrastructure to improve the navigation of the robot, and 3) the implementation of an multimedia infrastructure for speech recognition and vocal synthesis tools.