Supersurfaces for grasping, scene generation and contact modeling

Abstract

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)