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 structure supplied with either input from a schemata recognition module or input from an inverse model module or combinations of them, an inverse model module for generating motor commands based on state variables and stored schemata, a forward model module for predicting state variables based on state variables and stored schemata, where the forward model is implemented using a recurrent neural network, and a schemata recognition module for selecting a schemata based on supplied state variables of the robot controlled by the robotic controller.