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2016 IEEE/RSJ International Conference on In ligent Robots and Systems (IROS) Daejeon Convention Center October 9-14, 2016, Daejeon, Korea Improving Contact Estimation Accuracy by Optimal Redundancy Resolution Arne Wahrburg, Anders Robertsson, Bjo¨ rn Matthias, Fan Dai, and Hao Ding — Estimating Cartesian contact s and torques While it is well known that redundant manipulators come enable ternal