Regarding to the influence of robots in the various fields of life, the issue of trusting to them is important, especially when a robot deals with people directly. One of the possible ways to get this confidence is adding a moral dimension to the robots. Therefore, we present a new architecture in order to build moral agents that learn from demonstrations. This agent is based on Beauchamp and Childress’s principles of biomedical ethics (a type of deontological theory) and uses decision tree algorithm to abstract relationships between ethical principles and morality of actions. We apply this architecture to build an agent that provides guidance to health care workers faced with ethical dilemmas. Our results show that the agent is able to learn ethic well.