  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.
