This paper presents a concurrent BDI (Belief, Desire, Intention) architecture aimed to implement hybrid agents hardware/software. The proposed model includes an model of the agent architecture inspired in human practical thinking in which some mental processes are performed in a parallel and concurrent fashion. The BDI model is composed of several independent modules, internal subagents that can be mapped to different domains of implementation (SW/HW). The paper emphasizes the process that manages agent's goals taking into account different motivations for agent action (needs, opportunities, emotions and obligations). The proposed concurrency schema includes three main components: the beliefs cycle, the desire goal management process and the mean ends intention-based action controller. The model has been validated in a software case study in the field of social simulation.