This elaborate (100+ pages) literature overview addresses the Natural Language Understanding (NLU) or "comprehension" problem using an Embodied, Cognitive Linguistic view. The problem is actively researched in various disciplines ranging from ancient philosophy to modern biology, neuroscience, linguistics and computer science. To create robots and systems that understand language and to better understand how the human NLU system functions requires a close collaboration between the disciplines. This overview provides a first step for common ground and is useful for both theory formation and practical, hands-on engineering. Please leave a comment!