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This work presents new experimental results for the estimation of large position and orientation inaccuracies of contacting objects during force-controlled compliant motion. The estimation is based on position, velocity, and force measurements. The authors have described the contact modeling and presented some Kalman filter identification results for small inaccuracies. However, when dealing with larger inaccuracies, the nonlinear estimation problem remained unsolved. This problem has now been solved satisfactorily by applying a new Bayesian estimator. The Bayesian filter is valid for static systems (parameter estimation) with any kind of nonlinear measurement equation, subject to Gaussian measurement uncertainty and for a limited class of dynamic systems. Experimental results of this new filter are given for the estimation of the positions and orientations of contacting objects during the cube-in-corner assembly described in the first reference.