Superquadrics objects representation for robot manipulation

Detalhes bibliográficos
Autor(a) principal: Silva, Eliana Oliveira Costa
Data de Publicação: 2016
Outros Autores: Costa, M. Fernanda P., Erlhagen, Wolfram, Bicho, Estela
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/1822/44070
Resumo: Superquadric are mathematically quite simple and have the ability to obtain a variety of shapes using low order parameterization. Furthermore they present closed-form equations and therefore can be used in the formulation of robotic movement planning problems, in particular in obstacle-avoidance and grasping constraints. In this paper we explore the modeling of objects using superquadrics. The classical nonlinear optimization problem for fitting shapes is extended by adding nonlinear constraints. The numerical results obtained by two different optimization methods are presented and a comparison of the volume of the superquadrics to the volume of simple ellipsoids is made.
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spelling Superquadrics objects representation for robot manipulationNonlinear optimizationSuperellipsoidsRobot manipulationObstacle avoidanceCiências Naturais::MatemáticasScience & TechnologySuperquadric are mathematically quite simple and have the ability to obtain a variety of shapes using low order parameterization. Furthermore they present closed-form equations and therefore can be used in the formulation of robotic movement planning problems, in particular in obstacle-avoidance and grasping constraints. In this paper we explore the modeling of objects using superquadrics. The classical nonlinear optimization problem for fitting shapes is extended by adding nonlinear constraints. The numerical results obtained by two different optimization methods are presented and a comparison of the volume of the superquadrics to the volume of simple ellipsoids is made.AIP PublishingUniversidade do MinhoSilva, Eliana Oliveira CostaCosta, M. Fernanda P.Erlhagen, WolframBicho, Estela2016-062016-06-01T00:00:00Zconference paperinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/1822/44070eng97807354139240094-243X10.1063/1.4952096http://aip.scitation.org/doi/pdf/10.1063/1.4952096info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-05-11T04:16:39Zoai:repositorium.sdum.uminho.pt:1822/44070Portal AgregadorONGhttps://www.rcaap.pt/oai/openairemluisa.alvim@gmail.comopendoar:71602024-05-11T04:16:39Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Superquadrics objects representation for robot manipulation
title Superquadrics objects representation for robot manipulation
spellingShingle Superquadrics objects representation for robot manipulation
Silva, Eliana Oliveira Costa
Nonlinear optimization
Superellipsoids
Robot manipulation
Obstacle avoidance
Ciências Naturais::Matemáticas
Science & Technology
title_short Superquadrics objects representation for robot manipulation
title_full Superquadrics objects representation for robot manipulation
title_fullStr Superquadrics objects representation for robot manipulation
title_full_unstemmed Superquadrics objects representation for robot manipulation
title_sort Superquadrics objects representation for robot manipulation
author Silva, Eliana Oliveira Costa
author_facet Silva, Eliana Oliveira Costa
Costa, M. Fernanda P.
Erlhagen, Wolfram
Bicho, Estela
author_role author
author2 Costa, M. Fernanda P.
Erlhagen, Wolfram
Bicho, Estela
author2_role author
author
author
dc.contributor.none.fl_str_mv Universidade do Minho
dc.contributor.author.fl_str_mv Silva, Eliana Oliveira Costa
Costa, M. Fernanda P.
Erlhagen, Wolfram
Bicho, Estela
dc.subject.por.fl_str_mv Nonlinear optimization
Superellipsoids
Robot manipulation
Obstacle avoidance
Ciências Naturais::Matemáticas
Science & Technology
topic Nonlinear optimization
Superellipsoids
Robot manipulation
Obstacle avoidance
Ciências Naturais::Matemáticas
Science & Technology
description Superquadric are mathematically quite simple and have the ability to obtain a variety of shapes using low order parameterization. Furthermore they present closed-form equations and therefore can be used in the formulation of robotic movement planning problems, in particular in obstacle-avoidance and grasping constraints. In this paper we explore the modeling of objects using superquadrics. The classical nonlinear optimization problem for fitting shapes is extended by adding nonlinear constraints. The numerical results obtained by two different optimization methods are presented and a comparison of the volume of the superquadrics to the volume of simple ellipsoids is made.
publishDate 2016
dc.date.none.fl_str_mv 2016-06
2016-06-01T00:00:00Z
dc.type.driver.fl_str_mv conference paper
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/1822/44070
url http://hdl.handle.net/1822/44070
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 9780735413924
0094-243X
10.1063/1.4952096
http://aip.scitation.org/doi/pdf/10.1063/1.4952096
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv AIP Publishing
publisher.none.fl_str_mv AIP Publishing
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv mluisa.alvim@gmail.com
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