Table 5.

Summary of cognitive functions developed in the iCub and other robot systems, mapped onto Neisser's four dimensions of self.

Ecological self	Interpersonal self	Conceptual self	Temporally extended self
Simulating consequences (Dearden and Demiris, 2005; Pointeau et al., 2013; Schillaci et al., 2016b)	Understanding others actions (Hafner and Kaplan, 2008; Pointeau et al., 2013; Copete et al., 2016)	Reasoning based on experience (Petit et al., 2016)	Four years of ABM (Sorce et al., 2015)
Body schema and mental imagery (Lallee and Dominey, 2013; Schillaci et al., 2016a)	Shared plans and Cooperation (Dominey and Warneken, 2011; Lallée et al., 2012; Pointeau et al., 2014)	Mental representation of self and other (Pointeau et al., 2013)	Learning shared plans (Pointeau et al., 2014)
	Embodied Grammatical constructions (Hinaut et al., 2014; Mealier et al., 2016)		Narrative self (Sorce et al., 2015; Dominey et al., 2017)