Joris De Schutter, Herman Bruyninckx, Stefan Dutré, Jan De Geeter, Jayantha Katupitiya, Sabine Demey, Tine Lefebvre. Estimating First-Order Geometric Parameters and Monitoring Contact Transitions during Force-Controlled Compliant Motion. I. J. Robotic Res., 18(12):1161-1184, 1999. [doi]
Abstract is missing.