We argue that the locomotion of organisms is better understood as a form of interaction with a subjective environment, rather than as a set of behaviors allegedly amenable to objective descriptions. An organism's interactions with its subjective environment are in turn understandable in terms of its cognitive architecture. We propose a large-scale classification of the possible types of cognitive architectures, giving a sketch of the subjective structure that each of them superimposes on space and of the relevant consequences on locomotion. The classification comprises a main division between nonrepresentational and representational architectures and further subdivisions
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