Information self-structuring information self-structuring controller central nervous system motor sensory commands feedback body dynamics/morphology mechanical system sensory system internal physical physical musculoskeletal system sensory receptors stimulation stimuli head with external mechanical camera movement feedback physical movement stimuli sensory feedback: motor command task-environment controller ecological niche Experiments by Lungarella and Sporns,2006Information self-structuring Experiments by Lungarella and Sporns, 2006