Mental States as Emergent Properties: From Walking to Consciousness1 Introduction 2 Walknet 3 Internal representation 3.1 Body model 3.2 Representation of the environment4 Planning ahead, cognition5 Word-net and perceptual memory6 ReaCog: Emergent properties characterized by applying other levels of description 7 Phenomenality 8 Emotions 9 Attention, volition and intention 10 Consciousness 10.1 Access consciousness 10.2 Further relations between reaCog and access consciousness10.3 Metacognition11 Discussion12 Conclusion