Tine Lefebvre Herman Bruyninckx Joris De Schutter Nonlinear Kalman Filtering for Force-Controlled Robot Tasks 19 2005 1-239 Springer Springer Tracts in Advanced Robotics http://dx.doi.org/10.1007/11533054 978-3-540-28023-1 db/series/star/index.html#LefebvreBS05