{"id":"https://openalex.org/W2107195452","doi":"https://doi.org/10.1109/icra.2011.5980210","title":"Estimating robot end-effector force from noisy actuator torque measurements","display_name":"Estimating robot end-effector force from noisy actuator torque measurements","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2107195452","doi":"https://doi.org/10.1109/icra.2011.5980210","mag":"2107195452"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980210","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980210","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042559018","display_name":"Micha\u00ebl Van Damme","orcid":null},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"M. Van Damme","raw_affiliation_strings":["Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084604273","display_name":"Pieter Beyl","orcid":null},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"P. Beyl","raw_affiliation_strings":["Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010914606","display_name":"Bram Vanderborght","orcid":"https://orcid.org/0000-0003-4881-9341"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"B. Vanderborght","raw_affiliation_strings":["Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081728582","display_name":"Victor Grosu","orcid":"https://orcid.org/0000-0002-3386-0811"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"V. Grosu","raw_affiliation_strings":["Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030726547","display_name":"Ronald Van Ham","orcid":"https://orcid.org/0000-0003-4242-9377"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"R. Van Ham","raw_affiliation_strings":["Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055166845","display_name":"Innes Vanderniepen","orcid":null},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"I. Vanderniepen","raw_affiliation_strings":["Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061597153","display_name":"Arnout Matthys","orcid":null},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"A. Matthys","raw_affiliation_strings":["Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064738584","display_name":"Dirk Lefeber","orcid":"https://orcid.org/0000-0003-4442-4473"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"D. Lefeber","raw_affiliation_strings":["Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Belgium","institution_ids":["https://openalex.org/I13469542"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5042559018"],"corresponding_institution_ids":["https://openalex.org/I13469542"],"apc_list":null,"apc_paid":null,"fwci":7.7334,"has_fulltext":false,"cited_by_count":98,"citation_normalized_percentile":{"value":0.97250128,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1108","last_page":"1113"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7729417085647583},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7317785620689392},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.6408703327178955},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6160598397254944},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6099544167518616},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5872440338134766},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5826974511146545},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5404748320579529},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5248544216156006},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.45991459488868713},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41397982835769653},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29517221450805664},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2709767818450928},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1182304322719574},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11172646284103394},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.08154222369194031}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7729417085647583},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7317785620689392},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.6408703327178955},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6160598397254944},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6099544167518616},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5872440338134766},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5826974511146545},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5404748320579529},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5248544216156006},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.45991459488868713},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41397982835769653},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29517221450805664},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2709767818450928},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1182304322719574},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11172646284103394},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.08154222369194031},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2011.5980210","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980210","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:66257","is_oa":false,"landing_page_url":"https://biblio.vub.ac.be/vubir/estimating-robot-endeffector-force-from-noisy-actuator-torque-measurements(e2e0f3dd-bf27-4c58-a288-76e20f2e52e3).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W178056938","https://openalex.org/W1487127700","https://openalex.org/W1498561008","https://openalex.org/W1560270123","https://openalex.org/W1836514138","https://openalex.org/W1964511224","https://openalex.org/W1965324089","https://openalex.org/W1979755025","https://openalex.org/W1992476983","https://openalex.org/W1998700582","https://openalex.org/W2018911853","https://openalex.org/W2034825286","https://openalex.org/W2078856056","https://openalex.org/W2079315820","https://openalex.org/W2090910824","https://openalex.org/W2102797102","https://openalex.org/W2113265921","https://openalex.org/W2113351044","https://openalex.org/W2117695905","https://openalex.org/W2131292439","https://openalex.org/W2132991926","https://openalex.org/W2133884578","https://openalex.org/W2136205409","https://openalex.org/W2149085596","https://openalex.org/W2159746877","https://openalex.org/W2171850069","https://openalex.org/W2172281605","https://openalex.org/W2522680612","https://openalex.org/W2539649908","https://openalex.org/W2593498774","https://openalex.org/W4250730422","https://openalex.org/W6638608278","https://openalex.org/W6680322733","https://openalex.org/W6684636529"],"related_works":["https://openalex.org/W2031643172","https://openalex.org/W2367857055","https://openalex.org/W2047335472","https://openalex.org/W2021013760","https://openalex.org/W2024162929","https://openalex.org/W3180133250","https://openalex.org/W2363278848","https://openalex.org/W2031634947","https://openalex.org/W1999989966","https://openalex.org/W2092911180"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"two":[3],"ways":[4],"to":[5,33,64,67],"estimate":[6],"the":[7,11,43,68,107],"interaction":[8],"force":[9,37],"at":[10],"end-effector":[12],"of":[13,46],"a":[14,27,35,55,80,99],"robot.":[15],"The":[16,50],"first":[17,69],"approach":[18],"that":[19,79,103],"is":[20,40,61,77],"presented":[21],"combines":[22],"filtered":[23],"dynamic":[24],"equations":[25],"with":[26],"recursive":[28],"least":[29],"squares":[30],"estimation":[31],"algorithm":[32],"provide":[34],"smoothened":[36],"signal,":[38],"which":[39,53],"useful":[41],"in":[42,74],"(common)":[44],"case":[45],"noisy":[47],"torque":[48],"measurements.":[49],"second":[51],"approach,":[52],"uses":[54],"generalized":[56],"momentum":[57],"based":[58],"disturbance":[59],"observer,":[60],"mainly":[62],"discussed":[63],"compare":[65],"it":[66,76],"approach.":[70],"Although":[71],"very":[72],"different":[73],"appearance,":[75],"shown":[78],"close":[81],"connection":[82],"exists":[83],"between":[84],"both":[85,90],"approaches.":[86],"Simulation":[87],"results":[88,96],"for":[89],"algorithms":[91,108],"are":[92,109],"shown,":[93],"and":[94],"experimental":[95],"derived":[97],"from":[98],"sensorless":[100],"admittance":[101],"controller":[102],"was":[104],"implemented":[105],"using":[106],"presented.":[110]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
