Sing Bing Kang, Katsushi Ikeuchi. A grasp abstraction hierarchy for recognition of grasping tasks from observation. In Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1993, Tokyo, Japan, July 26 - 30, 1993. pages 621-628, IEEE, 1993. [doi]
Abstract is missing.