...if perception-action couplings and resources distributed over brain, body, and environment are substantial participants in cognition, then the need for the specific objects and processes of standard cognitive psychology (concepts, internally represented competence, and knowledge) goes away...We argue that this is compulsory; as soon as you allow the perceived environment to play any kind of critical role in cognition, it's game on for what Shapiro calls 'replacement style' embodied cognition. This is why we don't think that we're just at one extreme end of a continuum of embodiment research; we think the rest of the field is making a category mistake. Chapter 2 of Chemero (2009) does an excellent job of laying out the history here; representations come from the structuralist school of thought, embodiment from the functionalist school. They are, quite literally, two different kinds of approach and mixing them is just an error.
I need to talk about this other stuff, though, and I'm tired of calling it 'not embodied cognition'. For one thing, the critical tone gets in the way of the argument. Shapiro calls it 'the conceptualisation hypothesis' and while this is basically accurate, it's a slightly non-intuitive technical term I'd have to explain all the time. So I want to be slightly cheeky and rename that other work, while picking a name they will hopefully not mind. This work, I think, is really grounded cognition (as per Barsalou, 2008) and that's how I'll talk about it from here on in.

