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A B S T R A C TRecently, we discussed the relative importance of direct perception, embodiment, metaphors, and ethics for cooperative human-machine coexistence. The present paper deepens the examination of embodiment and direct perception by considering differences between computational and representational models on one hand and embodied cognition on the other. We found that to achieve true artificial intelligence (AI) and, hence, a cooperative human-machine coexistence, research must overcome the limitations of computational and representational models. This can be reached by connecting machines to the world through bodies that exhibit sensory and motor skills as demonstrated by embodied cognition. Furthermore, substantial improvement in AI could be achieved by adopting a hybrid framework in which embodied cognition, for example, may contain representational, abstract, and symbolic aspects. The adoption of such a "both and" instead of "either or" view is a more realistic approach for progress in AI applications.

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