I believe the keep was the round circle of logs on the top of a hill for defense. It later evolved into a stone tower, then walls were added to make a castle. The movie "The Warlord" shows a good example.
Yeah the type used over here were brought over by the Normans and were originally called Motte and Bailey's (although at least 3 are beleived to be before the Normans in Britain. All info here...