dc.contributor
Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
dc.contributor
Universitat Politècnica de Catalunya. CDEI-DM - Centre de Disseny d'Equips Industrials-Dinàmica de Màquines
dc.contributor.author
Badia Torres, Joan
dc.contributor.author
Garrido Reus, Lidia
dc.contributor.author
Pérez Gracia, Alba
dc.date.accessioned
2026-03-05T23:53:01Z
dc.date.available
2026-03-05T23:53:01Z
dc.date.issued
2025-10-15
dc.identifier
Badia, J.; Garrido, L.; Perez Gracia, A. Supersurfaces for grasping, scene generation and contact modeling. «Mechanism and machine theory», 15 Octubre 2025, vol. 214, núm. article 106075.
dc.identifier
https://hdl.handle.net/2117/456639
dc.identifier
10.1016/j.mechmachtheory.2025.106075
dc.identifier.uri
https://hdl.handle.net/2117/456639
dc.description.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.
dc.description.abstract
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.
dc.description.abstract
Peer Reviewed
dc.description.abstract
Postprint (author's final draft)
dc.format
application/pdf
dc.relation
https://www.sciencedirect.com/science/article/abs/pii/S0094114X25001648
dc.relation
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/
dc.rights
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights
Restricted access - publisher's policy
dc.rights
Attribution-NonCommercial-NoDerivatives 4.0 International
dc.subject
Àrees temàtiques de la UPC::Enginyeria mecànica
dc.title
Supersurfaces for grasping, scene generation and contact modeling
