Heiko Koch Alexander König Alexandra Weigl-Seitz Karl Kleinmann Jozef Suchy Force, acceleration and vision sensor fusion for contour following tasks with an industrial robot. 1-6 2011 ROSE https://doi.org/10.1109/ROSE.2011.6058516 conf/rose/2011 db/conf/rose/rose2011.html#KochKWKS11