Polyhedral Friction Cone Estimator for Object Manipulation
Morteza Azad Silvia Cruciani Michael J. Mathew Graham Deacon Guillaume de Chambrier Morteza Azad Silvia Cruciani Michael J. Mathew Graham Deacon Guillaume de Chambrier
A polyhedral friction cone is a set of reaction wrenches that an object can experience whilst in contact with its environment. This polyhedron is a powerful tool to control an object’s motion and interaction with the environment. It can be derived analytically, upon knowledge of object and environment geometries, contact point locations and friction coefficients. We propose to estimate the polyhed...