Peter Slaets Johan Rutgeerts Klaas Gadeyne Tine Lefebvre Herman Bruyninckx Joris De Schutter Construction of a geometric 3-D model from sensor measurements collected during compliant motion. 571-580 2004 ISER http://dx.doi.org/10.1007/11552246_54 conf/iser/2004 db/conf/iser/iser2004.html#SlaetsRGLBS04