Estimation of Individual Contact Force when Two Contact Points Exist during Robotic Tool Use

Abstract

Some tools such as a compass or a lever contact at multiple points with environment. In the case of a robot using such tools, the individual contact force has to be estimated for dexterous control. This paper proposes a method for estimating individual contact force when two contact points exist. The validity of the method is confirmed by a simulation that a manipulator draws a circle with a compass.