Motor control schemes should have an element of control and an element
of coordination. the former is a source of initiative and a product o
f the brain's work (mind, intelligence, or ''homunculus'') while the l
atter can be viewed as a process with constraints emerging at a hierar
chically lower, autonomous level. Limiting scientific analysis to an o
bject smaller than the universe necessarily leads to a hierarchical (c
ybernetic) approach.