Abstract: A method for controlling effectors of a robot by means of primitives made up of parameterizable coded functions, the primitives being activated conditionally by actions selected by an action selection system, the method based on associating coded objects with a sequence of characters corresponding to their semantic description, and comprising: i. a semantic description of the coded objects stored in the memory, made up of a string of characters representing a perception function of the robot and of another string of characters representing a perceived object, ii. a semantic description of the primitives, made up of a string of characters representing a possible action of the robot and of another, optional string of characters representing the optional parameters of this action, iii. a semantic description of rules made up of the combination of a string of characters representing the associated context and another string of characters representing the associated action.