In this paper, research work on Arisco is described Arisco is a social robot built around a robotic head with gesture ability, visual and auditive perception and learning It is intended for interacting with people The general architecture is first described in the paper Then, the learning capacity of Arisco is addressed It learns and performs associations between different stimulus responses through several dynamic neural networks, guided by motivational drives Main contribution of this paper is the integration in a real robot of conditioning learning models based on a neural competitive network A number of experiments are discussed, covering stimulus competition, habituation and first and second order conditioning.