title: Stable matching between a hand structure and an object silhouette.
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.
authors.affiliation: Institut National d'Informatique et d'Automatique (INRIA), 78153 Le Chesnay Cédex, France.
authors.forename: J D
authors.initials: JD
authors.lastname: Boissonnat