“The neuronal networks of the brain create behaviour by ordering the execution of different movements and movement complexes which allow the organism to achieve certain goals. The descending connections from the motor cortex” and the brain stem “constitute the channels through which the messages that ultimately will be translated into movements and movement complexes are transmitted to the effector organs, i.e. the assembly of motor neurons and muscles” (Kuypers [119]). Kuypers’ anatomical and functional studies in humans and non-human primates in the second half of the last century laid the groundwork for modern concepts of motor control. His ideas have been modified and extended with respect to the organization of the motor and premotor cortex (reviewed by Matelli et al. [139]), the functional anatomy of subcortical motor systems (see also Chaps. 17 and 22), and the contribution of the limbic system and the hypothalamus to motor control (reviewed by Holstege et al. [103]).