Helge Ritter Robert Haschke Jochen J. Steil Trying to Grasp a Sketch of a Brain for Grasping. 84-102 2009 Creating Brain-Like Intelligence http://dx.doi.org/10.1007/978-3-642-00616-6_6 series/lncs/5436 db/series/lncs/lncs5436.html#RitterHS09