The special priority program "the active self" of the DFG supports interdisciplinary research to "study the sensorimotor grounding of the human minimal self". An INI proposal coordinated by Prof. Gregor Schöner was now accepted for funding within that program. The planned research will provide an embodied processes account of the intentional states from which the self emerges. Within the theoretical framework of Dynamic Field Theory, intentional states will be modeled as self-stabilized patterns of activation that are coupled to the sensory and motor surfaces within a dynamic architecture. Models will be imlemented on a vision-based robot and will be tested empircally by compared to developmental experiments.