Behaviour selection has been an active research topic for robotics, in particular in the field of human–robot interaction. Fora robot to interact autonomously and effectively with humans, the coupling between techniques for human activityrecognition and robot behaviour selection is of paramount importance. However, most approaches to date consist ofdeterministic associations between the recognised activities and the robot behaviours, neglecting the uncertainty inherent tosequential predictions in real-time applications. In this paper, we address this gap by presenting an initial neuroroboticsmodel that embeds, in a simulated robot, computational models of parts of the mammalian brain that resembles neurophysiological aspects of the basal ganglia–thalamus–cortex (BG–T–C) circuit, coupled with human activity recognitiontechniques. A robotics simulation environment was developed for assessing the model, where a mobile robot accomplishedtasks by using behaviour selection in accordance with the activity being performed by the inhabitant of an intelligent home.Initial results revealed that the initial neurorobotics model is advantageous, especially considering the coupling betweenthe most accurate activity recognition approaches and the computational models of more complex animals.