當一個人要考量到許多不同的因素，在不斷變化的環境中適當地協調動作，這是種非常複雜的活動。在發展過程中，我們要如何整合所有這些系統，包含神經、感覺系統、和骨骼肌肉系統？哪些重要的因素導致動作發展？我們的肢體如何連結在一起，做出協調一致的動作？動作看似是種，由不同次系統間的動態互動、作用而成的結果；無論是在系統內部或系統外面，這作用不需要按照任何特定的次序。有些研究指出中樞神經系統，無法為動作協調作用提供完整的解釋，也無法作為唯一的解釋。許多研究發現，必須對系統本身重新定義，並且包含各種不同的元素，這些元素幫忙促進不同動作型態的產生。動作發展中的一個主要概念，就是「自我組成」。動作的產生要考量到人、活動、環境間的限制。有些研究發現嬰幼兒的動作發展里程碑，存在有差異性，神經系統的成熟度對於這些差異，並不能成為單一的解釋。相對於用大腦神經系統的反射抑制或發展成熟，來解釋各種動作的形成，這篇專論提供讀者一些研究實例，探討關於動態理論跟知覺-動作架構，在動作發展上，如何從所處的環境和個體之間的關係，用自我組成、選擇和探索的概念，獲取相關的資訊，來促進一個動作的形成。

Adequately coordinating movements in a constantly changing environment is a highly complex task when one considers the many components involved. How do we integrate the nervous system, the sensory system and the musculo-skeletal system during the development? What are the key factors contributing to action development? Action is seen as an emergent property resulting from the dynamics of constituent processes or subsystems without the need for any localizable source of this order either inside or outside the system. Some studies point out that proposed central nervous system sources, cannot provide the kind of direction or regulation needed. Many other studies find it necessary to redefine the system itself so as to include all the elements which contribute to the emergent action patterns. Action emerges from personal, task and environmental constraints. Unlike the traditional belief of motor milestones, studies found that not all of the typical infants would demonstrate the same action patterns at similar ages. Neural maturation may not be the solely answer for action development. This special article would offer the concepts from dynamic systems theory and perception-action framework to explain how the infants\' actions emerge from the personal and environmental constraints through the process of self-organizing, selection and exploration.