1. A computer-implemented method of controlling motor behaviors, comprising: associating first level motor behaviors with effectors at a first level node responsive to receiving input data representing observed motor behaviors of the effectors; associating second level motor behaviors with the first level motor behaviors at a second level node responsive to receiving the input data, one or more first level motor behaviors forming a second level motor behavior; the second level node generating second level information representing a second level target behavior based on the association between the second level motor behavior and the first level motor behavior responsive to receiving information indicating intended motor behaviors of the effectors, the second level target behavior corresponding to one of the second level motor behaviors; the first level node generating first level information representing a first level target behavior based on the association between the first level motor behavior and the effectors responsive to receiving the second level information, the first target behavior corresponding to one of the first level behaviors; and a control module generating commands to the effectors responsive to receiving the first level information.