A method for controlling behavior of an intelligent mechanical system having more than one degree of freedom. The method includes (a) providing a target to a selector unit that requires operation of actuators of the mechanical system; (b) generating by a selector unit more than one behavior commands adapted to reach the target; (c) simulating movements of the mechanical system for each behavior command by a computing unit of the mechanical system; (d) assessing fitness values for each simulated movements based on at least one objective; and (e) sending the behavior commands with a highest fitness value to the actuators of the mechanical system.