This paper presents the development and implementation of Robee, a novel social behavior controller for robots with a focus on Human-Robot Interaction (HRI) studies. Using the homeostatic drive theory, Robee selects the behaviors in order to maintain the needs, mainly psychological and social, within an acceptable range. We propose a hybrid concept for the decision making process, which combines the hierarchical approach and Parallel-rooted, Ordered, Slip-stack Hierarchical (POSH) architecture. Emotions are mapped in a two-dimensional space consisting of valence and arousal. A joint attention HRI experiment with children and NAO robot has been conducted showing the usage of the controller. Robee is expected to be implemented in more robotic platforms.