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- ZeitschriftenartikelGeometric Design Principles for Brains of Embodied Agents(KI - Künstliche Intelligenz: Vol. 29, No. 4, 2015) Ay, NihatI propose a formal model of the sensorimotor loop and discuss corresponding extrinsic embodiment constraints and the intrinsic degrees of freedom. These degrees constitute the basis for adaptation in terms of learning and should therefore be coupled with the embodiment constraints. Notions of sufficiency and embodied universal approximation allow us to formulate principles for such a coupling. This provides a geometric approach to the design of control architectures for embodied agents.