Certain principles of biomorphic robots

The field of biomorphic robotics can advance as quickly as clear principles of biological systems can be identified, implemented, and tested in roboti c devices. Here, we describe the implementation of three principles: (1) th e prediction of the sensory consequences of movement and its role in the ex traction of novelty and awareness; (2) learning affordances and the direct perception of what an agent can do at a particular instant and how it can d o it; (3) exploitation of the physical dynamics of a system to simplify rob ot control.