By browsing the web, I just found out that he has written a second book "The Things We Do. Using the Lessons of Bernard and Darwin to Understand the What, How, and Why of Our Behavior" which uses evolution and the feedback-based, cybernetic theory of William Powers to explain cognition and behavior. Both books are easy to read, and cover a very broad range of applications while focusing on the underlying principles. They are both published by MIT Press, and can be freely downloaded from Gary's website:
http://faculty.ed.uiuc.edu/g-cziko/
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Francis Heylighen "Evolution, Complexity and Cognition" research group Free University of Brussels http://pespmc1.vub.ac.be/HEYL.html