In this work, we present a robotic storytelling system, where the characters have been modelled as cognitive agents embodied in Pepper and NAO robots.

The characters have been designed by exploiting the ACT-R architecture, taking into account knowledge, behaviours, norms, and expectations typical of social practices and desires resulting from their personality.

The characters explain their reasoning processes during the narration, through a sort of internal dialogue that generate a high level of credibility experienced over the audience.

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