On my robot I do not intergrate Hals software with the robot control software, I run both brains at the same time. The one thing I did years ago was to give Hal the command when he heard a certain word to ignore what ever was being said next. The robots brain was programmed only to respond and obey commands when the word robot was given first, it would then follow the commands given to it.
This was not the best way to do itbut it was the only way that I could make it work.
On another concept I thought that Robert stated a few years ago about intergrating Hal with a company called "White Horse Robotics."
They made a small robot that could be programmed to perform many different tasks. I might not have the name of the company correct but the little robot more closely resembled R2D2 than looking anything like a human robot.
Bill