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Contact Transitions Tracking During Force-Controlled Compliant Motion Using an Interacting Multiple Model Estimator." Information & Security: An International Journal 9 (2002): 114-129."
Estimation and propagation of uncertainties during force-controlled execution of contact formation sequences In 10th Int. Conference on Advanced Robotics. Budapest, Hungary, 2001.
Estimating first-order geometric parameters and monitoring contact transitions during force-controlled compliant motions." International Journal of Robotics Research 18, no. 12 (1999): 1121-1184."