1. A method, implemented within a humanoid robot, of handling humanoid robot interaction with human, the method comprising the steps of: storing as temporary stimuli in a stimuli store, events detected within a humanoid robot environment, the events being stored with at least an indication of the position of the event and being grouped according to the type of the event detected in at least one of movement stimuli group, sound stimuli group, touch stimuli group, people stimuli group, the stimuli store further storing permanent stimuli to force an action of the humanoid robot; determining when an event detected fits a people stimulus, i.e. a stimulus originating from a human; using pertinence rules, selecting one stimulus among the stored stimuli and said people stimulus; processing said selected stimulus by triggering a specific scenario software routine, the software routine depending on a current activity of said humanoid robot and on a current engagement mode with a human, wherein the engagement mode representing a tracking relationship of the humanoid robot with a human, such that the robot can break the current engagement by engaging with someone else or not; and in response to the processing step, generating one or more actions of the humanoid robot.