[1] Max Planck Inst Biol Cybernet, D-72076 Tubingen, Germany
[2] Univ Manchester, Fac Life Sci, Manchester M60 1QD, Lancs, England
[3] Graz Univ Technol, Inst Theoret Comp Sci, A-8010 Graz, Austria
[4] Univ Manchester, Manchester M13 9PT, Lancs, England
[5] Italian Inst Technol, Robot Brain & Cognit Sci Dept, I-16163 Genoa, Italy
[6] Inst Sci Interchange Fdn, I-10133 Turin, Italy