Manipulation of enveloped object with elasticity at contact points

This paper discusses the manipulation of an enveloped object where a small compliance is assumed at each contact point. By newly introducing the decomposition of total wrench, we show that the contact force can be uniquely determined for a given joint torque. For manipulating the enveloped object, we show an approach for causing the slip at the desired contact point. The method for obtaining the joint torque to realize the desired motion of the object is shown. To verify the effectiveness of our idea, we show some numerical examples