Add to ORKG\u3cp\u3eThe contribution of the body to cognition and control in natural and artificial agents is increasingly described as offloading computation from the brain to the body, where the body is said to perform morphological computation. Our investigation of four characteristic cases of morphological computation in animals and robots shows that the offloading perspective is misleading. Actually, the contribution of body morphology to cognition and control is rarely computational, in any useful sense of the word. We thus distinguish (1) morphology that facilitates control, (2) morphology that facilitates perception, and the rare cases of (3) morphological computation proper, such as reservoir computing, where the body is actually used f...