Authors: De Schutter, J Bruyninckx, H Dutre, S De Geeter, J Katupitiya, J Demey, S Lefebvre, T

Citation: J. De Schutter et al., Estimating first-order geometric parameters and monitoring contact transitions during force-controlled compliant motion, INT J ROB R, 18(12), 1999, pp. 1161-1184