Identification of Contact Conditions from Contaminated Data of Contact Force and Moment. - Tetsuya Mouri; Takayoshi Yamada; Ayako Iwai; Nobuharu Mimura; Yasuyuki Funahashi (ICRA, 2001)

Identification of contact conditions from position and velocity information. - Tetsuya Mouri; Takayoshi Yamada; Ayako Iwai; Nobuharu Mimura; Yasuyuki Funahashi (IROS, 2003)