This paper addresses the problem of robot interaction with objects attached to the environment through joints such as doors or drawers. We propose a methodology that requires no prior knowledge of the objects’ kinematics, including the type of joint - either prismatic or revolute. The method consists of a velocity controller which relies onforce/torque measurements and estimation of the motion direction,rotational axis and the distance from the center of rotation.The method is suitable for any velocity controlled manipulatorwith a force/torque sensor at the end-effector. The force/torquecontrol regulates the applied forces and torques within givenconstraints, while the velocity controller ensures that the endeffectormoves with a task-related desired tangential velocity. The paper also provides a proof that the estimates converge tothe actual values. The method is evaluated in different scenarios typically met in a household environment.