Manipulator control with superquadric artificial potential functions: theory and experiments

@article{Volpe1990ManipulatorCW,
  title={Manipulator control with superquadric artificial potential functions: theory and experiments},
  author={Richard Volpe and Pradeep K. Khosla},
  journal={IEEE Trans. Syst. Man Cybern.},
  year={1990},
  volume={20},
  pages={1423-1436}
}
A potential function based on superquadrics is presented that closely models a large class of object shapes. This potential function also prevents the creation of local minima when it is added to spherically symmetric attractive wells. Two compatible forms of the superquadric potential function are introduced: one for obstacle avoidance, and another for obstacle approach. The avoidance and approach potentials are implemented in simulations. In these simulations the end effector of the… 

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