# Kinematics-based estimation of contact constraints using only proprioception

> Research article (2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016) · cited 19× · AI/ML

**Wikidata**: [openalex:W2544533513](https://www.wikidata.org/wiki/openalex:W2544533513)  
**Source**: https://4ort.xyz/entity/kinematics-based-estimation-of-contact-constraints-using-only-proprioception