ABSTRACT
The development of reaching and grasping abilities involves a complex interplay of learning and cognitive processes. This chapter overviews a selection of computational and robotic models on these phenomena, proposed by the authors and the literature in recent years, with the aim to contribute to develop an integrated theoretical framework on the common computational principles underlying the development of reaching and grasping. The chapter focuses in particular on six critical ingredients considered pivotal for the development of such behaviours: ecological active perception, motor babbling, trial-and-error learning, modular behaviour and hierarchical architectures, intrinsic motivations, and embodiment. The emerging framework is expected to be useful to design and interpret.
