1. A method, implemented within a humanoid robot, of handling humanoid robot interaction with a human, the method comprising the steps of: detecting from a plurality of detectors all events within a humanoid robot environment; processing each event detected and storing each event detected in a stimuli store as a temporary stimulus with at least an indication of a position of each respective event detected, the temporary stimuli being grouped by type in the stimuli store, the stimuli store further storing permanent stimuli not detected by the plurality of detectors; detecting that the humanoid robot is entering an engagement mode representing a tracking relationship of the humanoid robot with a human, wherein the engagement mode being one of a fully-engaged mode, a semi-engaged mode, or an unengaged mode; processing a new event detected by one of the plurality of detectors and determining if the new event is a stimulus originating from a human; using pertinence rules, selecting one temporary or permanent stimulus stored in the stimuli store; processing said selected stimulus by triggering a specific scenario software routine, wherein the software routine depends on the engagement mode of the humanoid robot and on a current activity of said humanoid robot; stopping or continuing the engagement mode in response to the processing of said selected stimulus; and generating one or more physical actions of the humanoid robot.