This paper discusses the problem of controlling synthetic actors. It presents the development of a general concept of autonomous actors reacting to their environment and taking decisions based on perception systems, memory and reasoning. With such an approach, it is possible to create simulations of situations such as actors moving in a complex environment they may know and recognize, or actors playing ball games based on their visual and touching perception. An animation system with autonomous actors is based on the three key components: the locomotor system, the perceptual system and the organism system