My research activities in the domain of computational neurosciences attempt to understand these higher brain function using computational models. I've recently investigated visual attention in order to understand what are the inner mechanisms of occular saccades. More recently, I've investigated the self-organization of representations within the primary somato-sensory cortex and the influence of attention in the formation and the refinement of these representations. I'm now investigating the mechanisms of action selection through the modeling of the basal ganglia complex with a special emphasis on the motor cortex. The challenge in all these modelling approaches is to understand how a consistent behavior emerges from a purely distributed, asynchronous, numerical and adaptive computing, i.e. without any form of a central supervisor or homonculus, not even a soft one like a central clock.