The integration between sensory, associative and motor cortex of the human brain in vision-based grasping actions is obtained by coordinating the two visual streams of the human cortex, the action-oriented dorsal stream and the perception-oriented ventral stream. In this talk, we will compare present day research on vision-based robotic grasping with the above neuroscience findings, and outline a model of vision-based grasp planning that builds strongly upon primate, and especially human physiology, trying to emulate the dualism and the interaction between the two streams. The model has been conceived to be applied on a robotic setup, and the design of the different modules inspired on brain areas has been performed taking into account not only biological plausibility, but also practical issues related to engineering constraints.