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Bayesian Hybrid Model-State Estimation Applied to Simultaneous Contact Formation Recognition and Geometrical Parameter Estimation ." The International Journal of Robotics Research (2005)."
Estimation and propagation of uncertainties during force-controlled execution of contact formation sequences In 10th Int. Conference on Advanced Robotics. Budapest, Hungary, 2001.
A roadmap on autonomous robotic assembly In International Symposium on Assembly and Task Planning. Fukuoka, Japan, 2001.
Tracking contact transitions during force-controlled compliant motion using an Interacting Multiple Model Estimator In 10th International Conf. 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."