Understanding brain functional architecture through robotics

Robotics is increasingly seen as a useful test bed for computational models of the brain functional architecture underlying animal behavior. We provide an overview of past and current work, focusing on probabilistic and dynamical models, including approaches premised on the free energy principle, situating this endeavor in relation to evidence that the brain constitutes a layered control system. We argue that future neurorobotic models should integrate multiple neurobiological constraints and be hybrid in nature.