Voluntary movements are manifestations of a centrally generated intention to act. The way in which intention is generated is irrelevant for the notion of voluntary movement. It may result from bodily needs such as hunger or thirst, or from higher order deliberations based on one's own beliefs and desires. What counts for voluntary movements is that the individual has a goal and that this goal determines movements leading to its achievement. Unlike for reflexes, in voluntary behavior stimuli do not determine a motor response, they only set the occasion for it. According to their needs, animals may or may not respond to the same stimulus.