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In this article, we review existing models of interpersonal communication and interaction models that have been applied and developed in the contexts of HRI and social robotics. We argue that often, symmetric models are proposed in which the human and robot agents are depicted as having similar ways of functioning (similar capabilities, components, processes). However, we argue that models of human\u2013robot interaction or communication should be asymmetric instead. We propose an asymmetric interaction model called AMODAL-HRI (an Asymmetric MODel of ALterity in Human\u2013Robot Interaction). This model is based on theory on joint action, common robot architectures and cognitive architectures, and Kincaid\u2019s model of communication. 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