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Lefebvre, Tine. \i Contact modelling, parameter identification and task planning for autonomous compliant motion using elementary contacts\i0  In \i Faculteit Toegepaste Wetenschappen\i0 . Vol. Ph.D. Belgium: Katholieke Universiteit Leuven, 2003.\par \par Mihaylova, Lyudmila, Tine Lefebvre, Ernesto Staffetti, Herman Bruyninckx, and Joris De Schutter. "Contact Transitions Tracking During Force-Controlled Compliant Motion Using an Interacting Multiple Model Estimator." \i Information & Security: An International Journal\i0  9 (2002): 114-129.\par \par Lefebvre, Tine, H. Bruyninckx, and J. De Schutter. \i Estimation and propagation of uncertainties during force-controlled execution of contact formation sequences\i0  In \i 10th Int. Conference on Advanced Robotics\i0 . Budapest, Hungary, 2001.\par \par De Schutter, J., Tine Lefebvre, J. Katupitiya, J. De Geeter, S. Dutr\'b4e, and H. Bruyninckx. "Estimating first-order geometric parameters and monitoring contact transitions during force-controlled compliant motions." \i International Journal of Robotics Research\i0  18, no. 12 (1999): 1121-1184.\par \par }