The classic Al approach to planning is fundamentally based on smart strategies in a discrete search space. In an analogic approach, on the contrary, basic representations are maps under the influence of complex dynamic systems and the role of "inference" and "reasoning" is taken by the simulation of their action. This approach has already been applied to Common Sense Reasoning and to Robotics. The key idea is that planning movements of redundant robots, which involves both robotic aspects as trajectory formation, navigation, obstacle avoidance, grasping, and AI aspects as action planning and representation of the world, can be solved by embedding these aspects into "analogic experts", that are concurrent procedures operating in a direct and fast way on the world representation. The power of this paradigm lies in treating simultaneously shapes, collision avoidance, trajectories, redundancy and sequence planning, possible dynamic environments, which is, so far, an open problem.