Steve Burion François Conti Anna Petrovskaya Charles Baur Oussama Khatib Identifying physical properties of deformable objects by using particle filters. 1112-1117 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543353 conf/icra/2008 db/conf/icra/icra2008.html#BurionCPBK08