Since Dan already mentioned it...
control of position = movement
control of movement = irritability (simple reflex)
control of irritability = (complex) reflex
control of reflex = associating (conditional reflex)
control of associating = human thinking
control of human thinking = culture
The Metasystem Transition
Author: V. Turchin, C. Joslyn,
Date : Aug 1993
PRINCIPIA CYBERNETICA WEB
http://pespmc1.vub.ac.be/MST.html