Diederik Verscheure Jan Swevers Herman Bruyninckx Joris De Schutter On-line identification of contact dynamics in the presence of geometric uncertainties. 851-856 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543311 conf/icra/2008 db/conf/icra/icra2008.html#VerscheureSBS08