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 polyhedral friction cone so that a priori knowledge of these quantities is no longer required. Additionally, we introduce a solution to transform the estimated friction cone to avoid re-estimation while the object moves. We present an analysis of the estimated polyhedral friction cone and demonstrate its application for manipulating an object in simulation and with a real robot.
翻译：多面性摩擦锥体是一个物体在接触环境时可以经历的一套反应扳手。该多面形体是控制物体运动和与环境相互作用的有力工具。它可以通过分析,根据对物体和环境的地形、接触点位置和摩擦系数的了解而得出。我们提议估计多面性摩擦锥体,以便不再需要事先了解这些数量。此外,我们引入一个解决方案,改变估计的摩擦锥体,以避免在物体移动时重新估计。我们对估计的多面性摩擦锥体进行了分析,并演示其在模拟和与真正的机器人一起操纵物体方面的应用。
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