Publication

Supersurfaces for grasping, scene generation and contact modelling

Journal Article (2025)

Journal

Mechanism and Machine Theory

Pages

106075

Volume

214

Doc link

https://doi.org/10.1016/j.mechmachtheory.2025.106075

File

Download the digital copy of the doc pdf document

Authors

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, hyperquartics, 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.

Categories

image matching, pattern recognition.

Author keywords

superquadrics, supertoroids, grasping, contact

Scientific reference

J. Badia, L. Garrido and A. Perez. Supersurfaces for grasping, scene generation and contact modelling. Mechanism and Machine Theory, 214: 106075, 2025.