Abstract
This book introduces a full framework of the sequence of sensorimotor transformations required to plan and execute hand movements suitable to grasp nearby objects. Present day research on robotic vision-based grasping has been compared with up-to-date neuroscience findings. The proposed framework has been conceived to be applied on a robotic setup, and the analysis of neuroscience findings has been performed taking into account not only biological plausibility, but also practical issues related to implementation constraints.