A controller for the motion control of a robot,comprises: a target input interface for supplying the controller with information about a target to be reached, a predicting module predicting at least one future state of the controlled robot using an internal model of the robot, a planning module for planning future states of the robot, wherein the planning starts from a predicted state supplied from the predicting module, a reactive controller, for outputting motor commands in order to make the controlled robot reach a target, and a target arbitrator for selecting the target output by the predicting module or the output from the planning module.