In this tribute to Esther Thelen's legacy, it is discussed how she brought concepts of new theoretical perspectives into the domain of motor development. As a consequence of this a rejuvenalisation of motor took place in the mid 1980's. study of motor skills became a testing ground not only for the task at hand, but also for other areas of development. Key words: Thelen, infant motor development, stereotypy ********** The (re) discovery of motor development is part of a title used by Esther Thelen (1989) for a discussion paper in Developmental Psychology. It reflects why she became famous in the world of developmental psychology during the early 1980s. She put the field of infants' motor in infants back on the scientific map as an important topic of study both in its own right and as a window into other, less accessible domains of development. Her achievements are relevant for any academic interested in teaching and research in the areas of movement co-ordination, movement control and skill acquisition. Esther Stillman Thelen passed away at the age of 63 on December 29th, 2004 at a hospital in Bloomington, Indiana. Esther was trained as ethologist and started her career by carefully documenting repetitive movement stereotypy's, first in grooming wasps (masters degree, 1973) and, later in developing infants (doctoral degree, 1977). This early work resulted in a number of well-received publications and the beginning of what would be continuous funding by NSF and NIH. In a comparatively short career, spanning only 25 years, Esther's impact on the field is reflected in three books, an SRCD monograph, and over 120 scientific articles and book chapters. She served on the editorial boards of 15 scientific journals, gave countless invited lectures and was elected president of the International Society on Infant Studies (1996-1998) and president of the Society for Research in Child Development. Esther's influence and significance for scientific work in will be measurable beyond these outputs for many years to come. In this tribute to her legacy, we will comment on some of Esther's impact and contribution to the field of developmental science. We will start with her early classic muscle-fat study and end with her A-not-B error experiments, and Dynamic field Theory. In the latter she worked towards an encompassing dynamic theory for the of action, perception, and cognition. A NEW KID ON THE DEVELOPMENTAL BLOCK: THE MUSCLE-FAT RATIO STUDY experiments conducted by Thelen in the early 1980s (Thelen & Fisher, 1982, Thelen et al., 1983; 1984) can be considered as the starting point of a major intellectual shift in motor development. In these experiments, she challenged the, then-prevailing view on motor as being determined by neural maturation. Before discussing these experiments, we go back into history. In the first two years an infant acquires different a range of goal-directed motor behaviors, such as reaching, grasping, sitting, crawling and walking. These so-called milestones are well known since the work of Gesell (1929), McGraw (1935) and Shirley (1933). description of these milestones resulted in a view of motor as a rather rigid and gradual unfolding of postures and movements, that was mainly attributed to the general process of maturation of the central nervous system. From a neural-maturation perspective the of movement co-ordination is regarded as a gradual unfolding of predetermined patterns (from cephalo-to-caudal and central-to-distal sequences) in the central nervous system and an increasing cortical control over lower reflexes. This view was still dominant among scientist way into the 1960s and 1970s, the so called heydays of the information-processing approach. Esther challenged this perspective with her experiments. In one of the key papers, 'The relationship between physical growth and a newborn reflex' published in Infant Behavior and Development, she and her co-workers illustrate instead that the complex interplay between infants' bodies, their environment, and earlier experiences determine the course of developmental changes. …