Stable Matching Between a Hand Structure and an Object Silhouette

1 November 1982

journal article
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. PAMI-4 (6) , 603-612
https://doi.org/10.1109/tpami.1982.4767313

Abstract

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.

Keywords

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