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A new approach of robotics perception, rooted in the sensorimotor paradigm, is proposed in this paper. Making systems able to autonomously adapt themselves to changes in their own body or in their environment is still a challenging task, questioning a lot of different scientific communities. But many works propose either sophisticated adaptive model-based or learning-based techniques as a solution. Recent contributions have shown that it is possible for an agent to discover the structure of itsdoi:10.1109/tcds.2016.2617922 fatcat:kiexyjclofffjpouva2bz3udoy