A method for controlling the behaviour of an intelligent mechanical system, such as e.g. a robot, able to carry out different movement behaviours, which respectively are composed of a plurality of degree-of-freedoms, the method comprising the following steps: - defining a target for a behaviour to a selector unit, - the selector unit generating a plurality of behaviour commands respectively adapted to reach the defined target, - for each alternative command, simulating the corresponding resulting movement(s) of the mechanical system by a computing unit which is integral part of the mechanicalsystem, - assessing the fitness of each of the simulated resulting movements with respect to at least one objective, and - sending the command resulting in the simulated movement with the highest fitness value to physical actuators of the mechanical system.
Controlling the interactive behavior of a robot