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This paper focusses on a general issue which arises when one attempts to design a cognitive architecture for autonomous cognitive systems: the incompatibility of autonomy with external control and the consequent problem of getting these systems to perform prescribed tasks. In addressing this issue, we consider a specific endeavour to design and implement a biologically-inspired cognitive architecture for the iCub humanoid robot. This architecture is based on 43 guidelines arising from an extended study of the requirements imposed by developmental psychology, neuroscience, enactive cognition, and existing computational models.
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