---
title: "A New Approach to the Problem of Acquiring Randomly Oriented Workpieces Out of a Bin"
authors:
  - "Jean-Daniel Boissonnat"
  - "F. Germain"
doi: ""
url: "https://ijcai.org/proceedings/1981/153"
pdf: "https://ijcai.org/proceedings/1981/0153.pdf"
venue: "Proceedings of the Seventh International Joint Conference on Artificial Intelligence"
year: 1981
pages: "796-801"
track: "Robotics"
keywords:
---

# A New Approach to the Problem of Acquiring Randomly Oriented Workpieces Out of a Bin

Jean-Daniel Boissonnat, F. Germain

*Proceedings of the Seventh International Joint Conference on Artificial Intelligence*, pages 796-801.

## Abstract

A complete solution to the problem cf picking randomly oriented workpieces out of a bin is presented. The geometry of the workpieces is arbitrary, the only parameters to be known are those of the grasper. The paper includes a description of the 3-D sensor and of the algorithm involved.