“…In many ways such a system resembles aspects of brain like functional behavior, its evident that such a robot should be able to process information in real time in a highly parallel way. We have adopted the approach of functional brain modeling [16] and use graphical software environment TiViPE [12] to realize and integrate these functional models, in a similar way as in earlier work [19,15,13,14]. Real time parallelism on a PC has been strongly facilitated by recent developments of graphical processing units (GPUs), not only have these GPUs become fast 1 but they also can be used as general processing units [8].…”