Universitat Politècnica de Catalunya
Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
Universitat Politècnica de Catalunya. CDEI-DM - Centre de Disseny d'Equips Industrials-Dinàmica de Màquines
2025-10-15
In this work we study the use of superquadrics and superquartics for grasping and contact detection. We include an overview of the different formulations that have been derived from the superquadrics, and we group all these under the denomination of supersurfaces: superquadrics, superquartics, hyperquadrics, superfigures, deformed superquadrics and combination of superquadrics. The focus of this work is in the formulation of superellipsoids and supertoroids, with derivations for their differential geometric properties and distance formulations. We apply this to grasp synthesis and to formulations for the contact between objects.
This work has been partially supported by Agencia Estatal de Investigación under project PID2020-117509GB-I00 / AEI / 10.13039/50110001103; and by the European Union’s Horizon Europe Research and Innovation Programme under Grant Agreement N˚ 101096352.
Peer Reviewed
Postprint (author's final draft)
Article
English
Àrees temàtiques de la UPC::Enginyeria mecànica; Superquadrics; Supertoroids; Grasping; Contact
Elsevier
https://www.sciencedirect.com/science/article/abs/pii/S0094114X25001648
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2020-117509GB-I00/ES/SINTESIS DE MOVIMIENTOS ROBOTICOS OPTIMAMENTE AGILES Y GRACILES/
http://creativecommons.org/licenses/by-nc-nd/4.0/
Restricted access - publisher's policy
Attribution-NonCommercial-NoDerivatives 4.0 International
E-prints [72263]
