Superquadrics Objects Representation for Robot Manipulation

Detalhes bibliográficos
Autor(a) principal: Silva, Eliana Costa e
Data de Publicação: 2016
Outros Autores: Costa, M. Fernanda, Erlhagen, Wolfram, Bicho, Estela
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/10194
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 AvoidanceSuperquadric 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.american institute of physicsRepositório Científico do Instituto Politécnico do PortoSilva, Eliana Costa eCosta, M. FernandaErlhagen, WolframBicho, Estela2017-08-07T10:14:39Z20162016-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/10194eng10.1063/1.4952096metadata only accessinfo: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:RCAAP2023-03-13T12:51:44Zoai:recipp.ipp.pt:10400.22/10194Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:30:40.412150Repositório 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 Costa e
Nonlinear Optimization
Superellipsoids
Robot Manipulation
Obstacle Avoidance
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 Costa e
author_facet Silva, Eliana Costa e
Costa, M. Fernanda
Erlhagen, Wolfram
Bicho, Estela
author_role author
author2 Costa, M. Fernanda
Erlhagen, Wolfram
Bicho, Estela
author2_role author
author
author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Silva, Eliana Costa e
Costa, M. Fernanda
Erlhagen, Wolfram
Bicho, Estela
dc.subject.por.fl_str_mv Nonlinear Optimization
Superellipsoids
Robot Manipulation
Obstacle Avoidance
topic Nonlinear Optimization
Superellipsoids
Robot Manipulation
Obstacle Avoidance
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
2016-01-01T00:00:00Z
2017-08-07T10:14:39Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
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status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/10194
url http://hdl.handle.net/10400.22/10194
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1063/1.4952096
dc.rights.driver.fl_str_mv metadata only access
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eu_rights_str_mv openAccess
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dc.publisher.none.fl_str_mv american institute of physics
publisher.none.fl_str_mv american institute of physics
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
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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
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