TY - JOUR T1 - Layered control architectures in robots and vertebrates JO - ADAPT BEHAV UR - http://eprints.whiterose.ac.uk/107032/ PY - 1999/01/01 AU - Prescott TJ AU - Redgrave P AU - Gurney K ED - VL - 7 IS - 1 SP - 99 EP - 127 Y2 - 2025/05/25 ER -