This paper outlines an interaction-centered and dynamically constructed episodic memory for social robots, in order to enable naturalistic, social human-robot interaction. The proposed model includes a record of multi-timescale events stored in the event history, a record of multi-timescale interval definitions stored as interaction episodes, and a set of links associating specific elements of the two records. The event history is constructed dynamically, depending on the occurrence of internal and external events. The interaction episodes are defined on the basis of robot-initiated and

user-initiated interactions. The episodic memory is realised within a social human-robot interaction architecture, whose components

generate events pertaining to the context and state of interaction.