1. A robotic controller using schemata, the schemata being a set of parameterized sequences of motor commands in order to make a robot achieve a set goal, the parameters for the sequences being gained from the state variables of the robotic controller, the robotic controller comprising: an interface for supplying sensory input to the robotic controller, —a schemata state memory ( 1 ) structure supplied with either input from a schemata recognition module ( 4 ) or input from an inverse model module ( 2 ) or combinations of them, an inverse model module ( 2 ) for generating motor commands based on state variables and stored schemata, a forward model module ( 3 ) for predicting state variables based on state variables and stored schemata, and a schemata recognition module ( 4 ) for selecting a schemata based on supplied state variables of the robot controlled by the robotic controller.