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[...]Grillner shows that many aspects of the motor repertoire in vertebrates have their origin early in phylogeny and have been conserved during evolution: the lamprey forebrain has all the components of the mammalian one, and several key motor programs are present in the nervous systems of birds and fish. The book ends with a fascinating summary of the previous chapters and a reflection on challenges for the field, both present (what is known) and future (the known unknowns). Future challenges include aspects of visuomotor coordination (how hands and feet are positioned to perform a motor task in response to visual stimuli), integration (how the components of the motor pattern are combined in the brain to produce a cohesive whole), motor learning (how and where learned motor circuits are stored and retrieved), the effects of language and speech (how words are stored and matched with different words with the same meaning in different languages), and aspects of volitions and consciousness in movement.