Human motion coordination: example of a juggler

The paper introduces a novel method for the coordination of human motion based on planification and AI techniques. Motions are considered as black boxes that are activated according to pre-conditions and produce post-conditions in a hybrid continuous and discrete world. Each part of the body is an autonomous entity which cooperates with the others depending on global criteria such as occupation rate and distance to a goal (common to all the entities). This technique makes it possible to easily specify and solve the motion coordination problem of a juggler that deals with a dynamic number of balls in real time.