Tsuneo Yoshikawa Masanao Koeda Hiroshi Fujimoto Shape Recognition and Optimal Grasping of Unknown Objects by Soft-Fingered Robotic Hands with Camera. 537-546 2008 ISER http://dx.doi.org/10.1007/978-3-642-00196-3_62 conf/iser/2008 db/conf/iser/iser2008.html#YoshikawaKF08