Human motion coordination: a juggler as an example

This paper introduces a new method for the coordination of human motion bas ed on planning and AI techniques. Motions are considered as black boxes tha t are activated according to preconditions and produce postconditions in a hybrid, continuous and discrete world. Each part of the body is an autonomo us entity that cooperates with the others as determined by global criteria, such as occupation rate and distance to a goal (common to all the entities ). With this technique, we can easily specify and solve the motion coordina tion problem of a juggler that juggles with a dynamic number of balls in re al time.