The main objective of the workshop is to discuss the needs for the design of a robot system capable of performing grasping and manipulation tasks in open-ended environments, dealing with novelty, uncertainty and unforeseen situations. The design of such a system must take into account three important facts: i) it has to be based on solid theoretical basis, ii) it has to be extensively evaluated on a suitable and measurable foundation, thus iii) allowing for self-understanding and self-extension. As an outcome, we expect the participating researchers to provide insight in what is needed for robotic systems to reason about graspable targets, to explore and investigate their physical properties and finally to make artificial hands grasp any object. In particular, we are interested in discussing the mathematical models of uncertainty and sensors integration as well as plausible machine learning, computer vision and control strategies.