1. A humanoid robot able to execute a plurality of behaviors under the control of an onboard management module comprising a sub-module for managing a plurality of resources which can be assigned to the execution of said behaviors, wherein said plurality of behaviors and said plurality of resources are each organized into hierarchical subsets, and said sub-module for managing the resources is programmable to reserve at least one resource in at least one subset of resources for the execution of at least one behavior in at least one subset of behaviors, said reservation being programmable to be inherited by said subset of behaviors and/or to be applied to said subset of resources.