  Grasping an object is a matter of first moving a prehensile organ at some
position in the world, and then managing the contact relationship between the
prehensile organ and the object. Once the contact relationship has been
established and made stable, the object is part of the body and it can move in
the world. As any action, the action of grasping is ontologically anchored in
the physical space while the correlative movement originates in the space of
the body. Evolution has found amazing solutions that allow organisms to rapidly
and efficiently manage the relationship between their body and the world. It is
then natural that roboticists consider taking inspiration of these natural
solutions, while contributing to better understand their origin.
