Jan Swevers Walter Verdonck Birgit Naumer Stefan Pieters Erika Biber An Experimental Robot Load Identification Method for Industrial Application. 701-712 2002 21 I. J. Robotic Res. 8 db/journals/ijrr/ijrr21.html#SweversVNPB02 http://dx.doi.org/10.1177/027836402761412449