This paper discusses possible correspondences between the dynamical systems characteristics observed in our previously proposed cognitive model and phenomenological accounts of immanent time considered by Edmund Husserl. Our simulation experiments in the anticiparatory learning of a robot showed that encountering sensory-motor flow can be learned as segmented into chunks of reusable primitives with accompanying dynamic shifting between coherences and incoherences in local modules. It is considered that the sense of objective time might appear when the continuous sensory-motor flow input to (...) the robot is reconstructed into compositional memory structures through the articulation processes described. (shrink)