Estimating first-order geometric parameters and monitoring contact transitions during force-controlled compliant motions Publication Type: Journal Article Authors: J. De Schutter; Tine Lefebvre; J. Katupitiya; J. De Geeter; S. Dutr´e; H. Bruyninckx Source: International Journal of Robotics Research, Volume 18, Issue 12, p.1121-1184 (1999)
