We present a practical application of sensorimotor self- simulation for a mobile robot. Using its self-simulation, the robot can reason about its ability to perform tasks, despite having no model of many of its internal processes and thus no way to create an
configuration space in which to search. We suggest that this in-the-head rehearsal of tasks is particularly useful when the tasks carry a high risk of robot “death”, as it provides a source of negative feedback in perfect safety. This approach is a useful complement to existing work using forward models for anticipatory behaviour. A minimal system is shown to be effective in simulation and real-world experiments. The virtues and limitations of the approach are discussed and future work suggested.