The animation of human avatars seems very successful; the computer graphics industry shows outstanding results in films everyday, the game industry achieves exploits... Nevertheless, the animation and control processes of such manikins are very painful. It takes days to a specialist to build such animated sequences, and it is not adaptive to any type of modifications. Our main purpose is the virtual human for engineering, especially virtual prototyping. As for this domain of activity, such amounts of time are prohibitive.