Dear Yaghoub:

Some of the basic underlying principles of embodiment theory were proposed by biologists studying nonhuman animals, and can be applied to any species. I recommend looking at some of the seminal works in what is sometimes called biosemiotics, particularly the pioneering work of Uexküll, Maturana, and the latter scientist's disciple, Varela, who coauthored one of the classic, defining works in embodiment theory, The embodied mind, with Thomson and Rosch.

I have posted an extensive bibliography on my ResearchGate profile; the first thematic section includes studies on evolutionary cognition:

https://www.researchgate.net/publication/317351468

For the authors mentioned above, you may consult the following texts:

UEXKÜLL, Jakob von

1957 "A stroll through the worlds of animals and men, a picture book of invisible worlds [...] (1934)," in Instinctive behavior, the development of a modern concept, Claire H. Schiller, translator and editor, New York, International Universities Press, 1957, pp. 5-80 (http://isites.harvard.edu/fs/docs/icb.topic514568.files/StrollThroughTheWorlds.pdf, accessed: 23 December 2016).

1982 "The theory of meaning," in Semiotica (International Association for Semiotic Studies/Mouton Publishers), vol. 42, no. 1, pp. 25-82 (http://www.codebiology.org/pdf/von%20Uexk%C3%83%C2%BCll%20J%20(1940)%20The%20Theory%20of%20Meaning.pdf, accessed: 23 October 2016).

1992 "A stroll through the worlds of animals and men, a picture book of invisible worlds [...] (1934)," in Semiotica (International Association for Semiotic Studies/Walter de Gruyter), vol. 89, no. 4, pp. 319-391 (http://www.codebiology.org/pdf/von%20Uexk%C3%83%C2%BCll%20J%20(1934)%20A%20stroll%20through%20the%20worlds%20of%20animals%20and%20men.pdf, accessed: 23 December 2016).

MATURANA, Humberto R.

1980 "Biology of cognition (1970)," in Humberto R. Mataruna and Francisco J. Varela, Autopoiesis and cognition: the realization of the living, Dordecht/Boston/London, D. Reidel Publishing Company, pp. 5-58 (http://topologicalmedialab.net/xinwei/classes/readings/Maturana/autopoesis_and_cognition.pdf, accessed: 4 December 2016).

MATURANA, Humberto R.; VARELA, Francisco J.

1980 "Autopoiesis, the organization of the living, 1973," in Humberto R. Mataruna and Francisco J. Varela, Autopoiesis and cognition: the realization of the living, Dordecht/Boston/London, D. Reidel Publishing Company, pp. 59-123 (http://topologicalmedialab.net/xinwei/classes/readings/Maturana/autopoesis_and_cognition.pdf, accessed: 4 December 2016).

1998 The tree of knowledge, the biological roots of understanding, Robert Paolucci, translator, Boston/London, Shambhala.

VARELA, Francisco J.; THOMPSON, Evan; ROSCH, Eleanor

1993a [1991] The embodied mind, cognitive science and human experience, Cambridge/London, The MIT Press.

1993b [1991] The embodied mind, cognitive science and human experience, digital copy, Cambridge/London, The MIT Press (http://monoskop.org/images/b/b2/Varela_Thompson_Rosch_-_The_Embodied_Mind_Cognitive_Science_and_Human_Experience.pdf, accessed: 3 April 2016).

2016 The embodied mind, cognitive science and human experience, revised edition, Cambridge/London, The MIT Press.

Gibson's theory of affordances, a key feature of his ecological psychology, may help understand the common denominators in cognition by human and nonhuman animals. This is explained in the following text:

GIBSON, James J.

1978 "The ecological approach to the visual perception of pictures," in Leonardo (Pergamon Press), vol. 11, no. 3, pp. 227-235 (http://classes.matthewjbrown.net/teaching-files/ccc/gibson.pdf, accessed: 8 February 2017).

1986a The ecological approach to visual perception, New York/Hove, Psychology Press.

1986b The ecological approach to visual perception, New York/Hove, Psychology Press (https://archive.org/details/pdfy-u5hmFOvOM2Civ4Gz, accessed: 8 February 2017).

Data Embodied cognition and aesthetic experience: a bibliography ...