I am unaware of this ever happening but I don't believe that it is an impossibility. If a chimpanzee had lost its own baby and a woman was stupid enough to leave her baby alone unattended in a jungle inhabited by the grieving chimpanzee then the baby would just possibly be kidnapped. Chimpanzees do 'kidnap' each others babies on occassion. It is extremely doubtful though that such a human baby would survive more than a few months and a year at the outside. Life is cruel in the jungle.