This article argues the necessity of overcoming the hierarchical and pyramidal conception of the central nervous system that has subordinated the motor function to the higher brain activities for at least the last 150 years. The evolution of some motor modes of behavior?such as the ability to construct and manipulate instruments?has given rise to an ?embodied logic? underpinning not only the development of models of action and prediction but also the production of gestures and sequences of syllables that are at (...) the basis of human communication. Whether it is a matter of shaking someone's hand, writing a letter, or whatever, each executive function?controlled by a series of nervous structures and mental procedures that process the information?requires behaviors that are oriented to a specific end. (shrink)