Issue No. 06 - June (1982 vol. 4)
Jean-Daniel Boissonnat , Institut National d'Informatique et d'Automatique (INRIA), 78153 Le Chesnay Cédex, France.
A method is proposed which determines the possible ways to grasp an object, defined by its silhouette. This method is quite general and versatile: the geometry of the object is arbitrary and a large class of grippers is allowed; no a priori information is needed, except the parameters of the gripper, and so the method applies, in particular, to all the automatic prehension problems when the object and/or its orientation are unknown. Suitable segmentation and parametrization of the silhouette yields an explicit solution and a very fast and simple algorithm.
Jean-Daniel Boissonnat, "Stable Matching Between a Hand Structure and an Object Silhouette", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 4, no. , pp. 603-612, June 1982, doi:10.1109/TPAMI.1982.4767313