EDHHI will advance the current understanding about the factors influencing effective human-humanoid interaction in cooperative problem solving tasks. With the purpose to identify the factors influencing the robot acceptability and the human engagement towards the robot and the task. We will design and implement an experimental protocol involving non–verbal interaction between human participants and the iCub robot during a cooperative task. The focus will be on the interplay between task rules (i.e. robot initiates the task vs. human initiates the task), proxemics (i.e. dyadic spatial configurations, distances) and those behavioral features (motion, gaze) that can have an impact on the effectiveness of the interaction.