Ay, NihatNihatAy2022-12-012022-12-012015-07-22KI - Kunstliche Intelligenz 29 (4): 389-399 (2015-11-01)http://hdl.handle.net/11420/14222I propose a formal model of the sensorimotor loop and discuss corresponding extrinsic embodiment constraints and the intrinsic degrees of freedom. These degrees constitute the basis for adaptation in terms of learning and should therefore be coupled with the embodiment constraints. Notions of sufficiency and embodied universal approximation allow us to formulate principles for such a coupling. This provides a geometric approach to the design of control architectures for embodied agents.en1610-198720154389399SpringerCheap designEmbodimentInformation geometrySensorimotor loopUniversal approximationTechnikMedizinJournal Article10.1007/s13218-015-0382-zOther