I think the leg thing is uncontroversial; Whether the abstractions used in our more obscure cognitive processes are constrained in a comprehensible way by the kind of experiences our bodies give us is… complicated. For an interesting (but infuriatingly overbearing) attempt to work this through, see LaJo99_. For a less ambitious one see Clar87_; although I don’t think think he ultimately says anything that would surprise a control system engineer.
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