Estimating the contact state between a grasped tool and the environment is essential for performing contact tasks such as assembly and object manipulation. Force signals are valuable for estimating the contact state, as they can be utilized even when the contact location is obscured by the tool. Previous studies proposed methods for estimating contact positions using force/torque signals; however, most methods require the geometry of the tool surface to be known. Although several studies have proposed methods that do not require the tool shape, these methods require considerable time for estimation or are limited to tools with low-dimensional shape parameters. Here, we propose a method for simultaneously estimating the contact position and tool shape, where the tool shape is represented by a grid, which is high-dimensional (more than 1000 dimensional). The proposed method uses a particle filter in which each particle has individual tool-shape parameters, thereby to avoid directly handling a high-dimensional parameter space. The proposed method is evaluated through simulations and experiments using tools with curved shapes on a plane. Consequently, the proposed method can estimate the shape of the tool simultaneously with the contact positions, making the contact-position estimation more accurate.
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