Latest update: 18 Oct 2016. For copies of any publications, email me. Many recent ones are open access, many others available via my Google scholar profile.

Journal publications


Ziemke T (2016). The body of knowledge: On the role of the living body in grounding embodied cognition. BioSystems, 148, 4-11.     (OPEN ACCESS)

Sakreida K, Effnert I, Thill S, Menz M, Jirak D, Eickhoff C, Ziemke T, Eickhoff S., Borghi A & Binkofski F (2016). Affordance processing in segregated parieto-frontal dorsal stream sub-pathways. Neuroscience & Biobehavioral Reviews, 69, 89–112.

Billing E, Svensson H, Lowe R & Ziemke T (2016). Finding Your Way from the Bed to the Kitchen: Re-enacting and Re-combining Sensorimotor Episodes Learned from Human Demonstration. Frontiers in Robotics and AI, 3:9.     (OPEN ACCESS)


Vernon D, Lowe R, Thill S & Ziemke T (2015). Embodied cognition and circular causality: on the role of constitutive autonomy in the reciprocal coupling of perception and action. Frontiers in Psychology, 6, 1660.   (open access)

Vernon D, Billing E, Hemeren P, Thill S & Ziemke T (2015). An Architecture-oriented Approach to System Integration in Collaborative Robotics Research Projects — An Experience Report. Journal of Software Engineering in Robotics, 6(1), 15-32.   (open access)


Li C, Lowe R & Ziemke T (2014). A novel approach to locomotion learning: Actor-Critic architecture using central pattern generators and dynamic motor primitives. Frontiers in Neurorobotics, 8:23. doi: 10.3389/fnbot.2014.00023.   (open access)

Thill S, Padó S & Ziemke T (2014). On the importance of a rich embodiment in the grounding of concepts: perspectives from embodied cognitive science and computational linguistics. Topics in Cognitive Science, 6 (3), 545-558.

Ekanayake H, Backlund P, Ziemke T, Ramberg R and Hewagamage K (2014). Comparing Expert and Novice Driving Behaviour in a Driving Simulator. Interaction Design & Architecture, 01/2014: 19.


Riegler A, Stewart J & Ziemke T (2013). Computation, Cognition and Constructivism. Constructivist Foundations, 9(1): 1–6.

Montebelli A, Lowe R & Ziemke T (2013). Towards metabolic robotics: insights from modeling embodied cognition in a bio-mechatronic symbiont. Artificial Life, 19(3-4):299–315, 2013.

Ekanayake H, Fors U, Ramberg R, Ziemke T, Backlund P, Hewagamage K (2013). Affective Realism of Animated Films in the Development of Simulation-Based Tutoring Systems. International Journal of Distance Education Technologies, 11(2), 96-109. DOI:10.4018/jdet.2013040105.

Thill S, Caligiore D, Borghi AM, Ziemke T & Baldassarre G (2013). Theories and computational models of affordance and mirror systems: an integrative review. Neuroscience & Biobehavioral Reviews. 37(3), 491-521. doi: 10.1016/j.neubiorev.2013.01.012

Li C, Lowe R & Ziemke T (2013). Humanoids learning to walk: a natural CPG-actor-critic architecture. Frontiers in Neurorobotics, 7(5), doi: 10.3389/fnbot.2013.00005.   (open access)

Ekanayake H, Backlund P, Ziemke T, Ramberg R, Hewagamage K & Lebram M (2013). Comparing Expert Driving Behavior in Real World and Simulator Contexts. International Journal of Computer Games Technology, article ID 891431, DOI:10.1155/2013/891431.

Svensson H, Thill S & Ziemke T (2013). Dreaming of electric sheep? Exploring the functions of dream-like mechanisms in the development of simulations. Adaptive Behavior, 21(4), 222-238.


Thill S, Pop C, Belpaeme T, Ziemke T & Vanderborght B (2012). Robot-assisted Therapy for Autism Spectrum Disorders with (partially) Autonomous Control: Challenges and Outlook. Paladyn – Journal of Behavioral Robotics, DOI: 10.2478/s13230-013-0107-7.

Nilsson M, van Laere J, Susi T & Ziemke T (2012). Information fusion in practice: A distributed cognition perspective on the active role of users. Information Fusion, 13(1), 60-78.


Lowe R & Ziemke T (2011). The feeling of action tendencies: On the emotional regulation of goal-directed behavior. Frontiers in Psychology, 2:346, doi: 10.3389/fpsyg.2011.00346.

Pellicano A, Thill S, Ziemke T and Binkofski F (2011). Affordances, adaptive tool use and grounded cognition. Frontiers in Psychology, 2:53. DOI: 10.3389/fpsyg.2011.00053.

Morse A, Herrera C, Clowes R, Montebelli A & Ziemke T (2011). The role of robotic modeling in cognitive science. New Ideas in Psychology, 29(3), 312-324.


Chersi F, Thill S, Ziemke T & Borghi, AM (2010). Sentence processing: linking language to motor chains. Frontiers in Neurorobotics, 4(4), doi: 10.3389/fnbot.2010.00004.

Lowe R & Ziemke T (2010). Towards a Cognitive Robotics Methodology for Reward-Based Decision Making. Connection Science, 22(3), 247-289.


Ziemke T & Lowe R (2009). On the role of emotion in embodied cognitive architectures: From organisms to robots. Cognitive Computation, 1(1), 104-117.

Froese T & Ziemke T (2009). Enactive artificial intelligence: Investigating the systemic organization of life and mind. Artificial Intelligence, 173, 466-500.

Lowe R, Humphries M & Ziemke T (2009). The dual-route hypothesis: evaluating a neurocomputational model of fear conditioning in rats. Connection Science, 21(1), 15-37.


Ziemke, T (2008). On the role of emotion in biological and robotic autonomy. BioSystems, 91, 401-408.

Montebelli, A, Herrera, C & Ziemke, T (2008). On Cognition as Dynamical Coupling: An analysis of behavioral attractor dynamics. Adaptive Behavior, 16(2-3), 182-195.

Morse & Ziemke (2008). On the role(s) of modelling in cognitive science. Pragmatics & Cognition, 16(1), 37–56.


Ziemke (2007). The Embodied Self – Theories, hunches and robot models. Journal of Consciousness Studies, 14(7), 167–79.

Herrera & Ziemke (2007). Aristotle, autonomy, and the explanation of behaviour.  Pragmatics & Cognition, 15(3), 547-571,

Sørensen & Ziemke (2007). Agents without Agency? Cognitive Semiotics, 0, 102-124.


Ziemke & Lindblom (2006). Some methodological issues in android science. Interaction Studies, 7(4), 339-342.

Lindblom & Ziemke (2006). The Social Body in Motion: Cognitive development in infants and robots. Connection Science, 18(4), 333-346.


Ziemke, Jirenhed & Hesslow (2005). Internal Simulation of Perception. A minimal neurorobotic model. Neurocomputing, 68, 85-104.

Buason, Bergfeldt & Ziemke (2005). Brains, bodies, and beyond: Competitive co-evolution of robot controllers, morphologies, and environments. Genetic Programming and Evolvable Machines, 6(1), 25-51.

Susi & Ziemke (2005). On the Subject of Objects: Four Views on Object Perception and Tool Use. Triple C: Cognition, Communication, Co-operation, 3(2), 6-19.

Ziemke (2005). Cybernetics and Embodied Cognition: On the Construction of Realities in Organisms and Robots. Kybernetes, 34(1/2), 118-128.


Ziemke, Bergfeldt, Buason, Susi, & Svensson (2004). Evolving Cognitive Scaffolding and Environment Adaptation: A New Research Direction for Evolutionary Robotics. Connection Science, 16(4), 339-350.


Ziemke (2003). On the Role of Robot Simulations in Embodied Cognitive Science. AISB Journal, 1(4), 389-399.

Lindblom & Ziemke (2003). Social Situatedness of Natural and Artificial Intelligence: Vygotsky and Beyond. Adaptive Behavior, 11(2), 79-96.

Jacobsson & Ziemke (2003). Improving Procedures for Evaluation of Connectionist Context-Free Language Predictors. IEEE Transactions on Neural Networks, 14(4), 963-966.

Ziemke (2003). Robosemiotics and embodied enactive cognition. SEED – Semiotics, Evolution, Energy, and Development, 3(3), 112-124.


Ziemke & Thieme (2002). Neuromodulation of Reactive Sensorimotor Mappings as a Memory Mechanism in Delayed Response Tasks. Adaptive Behavior, 10(3/4), 185-199.

Ziemke (2002). On the Epigenesis of Meaning in Robots and Organisms. Sign Systems Studies, 30(1), 101-111.


Susi & Ziemke (2001). Social Cognition, Artefacts, and Stigmergy: A Comparative Analysis of Theoretical Frameworks for the Understanding of Artefact-mediated Collaborative Activity. Cognitive Systems Research, 2(4), 273-290.

Sharkey & Ziemke (2001). Mechanistic vs. Phenomenal Embodiment: Can Robot Embodiment Lead to Strong AI?. Cognitive Systems Research, 2(4), 251-262.

Ziemke (2001). The Construction of ‘Reality’ in the Robot: Constructivist Perspectives on Situated AI and Adaptive Robotics. Foundations of Science, 6(1), 163-233.

Ziemke & Sharkey (2001). A stroll through the worlds of robots and animals: Applying Jakob von Uexküll’s theory of meaning to adaptive robots and artificial life. Semiotica, 134(1-4), 701-746.

2000 and earlier

Savage & Ziemke (2000). Learning and Unlearning Mechanisms in Animats and Animals. Adaptive Behavior, 8(2), 93-124.

Sharkey & Ziemke (1998). A consideration of the biological and psychological foundations of autonomous robotics. Connection Science, 10(3-4), 361-391.

Ziemke (1998). Adaptive behavior in autonomous agents. Presence, 7(6), 564-587.

Ziemke (1997). Radar image segmentation using self-adapting recurrent networks. International Journal of Neural Systems, 8 (1), 47-54.

Ziemke (1996). Radar image segmentation using recurrent artificial neural networks. Pattern Recognition Letters, 17(4), 319-334.