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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 }