{"id":"https://openalex.org/W4379409060","doi":"https://doi.org/10.1109/tase.2023.3280750","title":"Contact Force Estimation of Robot Manipulators With Imperfect Dynamic Model: On Gaussian Process Adaptive Disturbance Kalman Filter","display_name":"Contact Force Estimation of Robot Manipulators With Imperfect Dynamic Model: On Gaussian Process Adaptive Disturbance Kalman Filter","publication_year":2023,"publication_date":"2023-06-05","ids":{"openalex":"https://openalex.org/W4379409060","doi":"https://doi.org/10.1109/tase.2023.3280750"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3280750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3280750","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5081917802","display_name":"Yanran Wei","orcid":"https://orcid.org/0000-0002-3325-4862"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yanran Wei","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075248381","display_name":"Shangke Lyu","orcid":"https://orcid.org/0000-0002-8302-6630"},"institutions":[{"id":"https://openalex.org/I3133055985","display_name":"Westlake University","ror":"https://ror.org/05hfa4n20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3133055985"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shangke Lyu","raw_affiliation_strings":["Machine Intelligence Laboratory (MiLAB), School of Engineering, Westlake University, Hangzhou, China","School of Engineering, Machine Intelligence Laboratory (MiLAB), Westlake University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Machine Intelligence Laboratory (MiLAB), School of Engineering, Westlake University, Hangzhou, China","institution_ids":["https://openalex.org/I3133055985"]},{"raw_affiliation_string":"School of Engineering, Machine Intelligence Laboratory (MiLAB), Westlake University, Hangzhou, China","institution_ids":["https://openalex.org/I3133055985"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102005028","display_name":"Wenshuo Li","orcid":"https://orcid.org/0000-0003-2389-8311"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenshuo Li","raw_affiliation_strings":["Hangzhou Innovation Institute, Beihang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Hangzhou Innovation Institute, Beihang University, Hangzhou, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084857817","display_name":"Xiang Yu","orcid":"https://orcid.org/0000-0002-9005-3733"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Yu","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100699858","display_name":"Zidong Wang","orcid":"https://orcid.org/0000-0002-9576-7401"},"institutions":[{"id":"https://openalex.org/I80143920","display_name":"Shandong University of Science and Technology","ror":"https://ror.org/04gtjhw98","country_code":"CN","type":"education","lineage":["https://openalex.org/I80143920"]},{"id":"https://openalex.org/I59433898","display_name":"Brunel University of London","ror":"https://ror.org/00dn4t376","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I59433898"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Zidong Wang","raw_affiliation_strings":["College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao, China","Department of Computer Science, Brunel University London, Uxbridge, U.K"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao, China","institution_ids":["https://openalex.org/I80143920"]},{"raw_affiliation_string":"Department of Computer Science, Brunel University London, Uxbridge, U.K","institution_ids":["https://openalex.org/I59433898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100344279","display_name":"Lei Guo","orcid":"https://orcid.org/0000-0002-3061-2337"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Guo","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5081917802"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":7.1828,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.97711576,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"21","issue":"3","first_page":"3524","last_page":"3537"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.996399998664856,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7063198089599609},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6556284427642822},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6287580728530884},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5211781859397888},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5045477151870728},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44281578063964844},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4159157872200012},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36958011984825134},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3344338536262512},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2804735600948334},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.12027189135551453}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7063198089599609},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6556284427642822},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6287580728530884},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5211781859397888},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5045477151870728},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44281578063964844},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4159157872200012},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36958011984825134},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3344338536262512},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2804735600948334},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.12027189135551453},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2023.3280750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3280750","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1285172727","display_name":null,"funder_award_id":"2021C03158","funder_id":"https://openalex.org/F4320338110","funder_display_name":"Science and Technology Department of Zhejiang Province"},{"id":"https://openalex.org/G3110563218","display_name":null,"funder_award_id":"LZ23F030011","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G3414105638","display_name":null,"funder_award_id":"62003018","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3601955901","display_name":null,"funder_award_id":"61833013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3718619968","display_name":null,"funder_award_id":"20182014B06","funder_id":"https://openalex.org/F4320322162","funder_display_name":"Hangzhou Science and Technology Bureau"},{"id":"https://openalex.org/G5369818959","display_name":null,"funder_award_id":"LQ20F030006","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G6272557316","display_name":null,"funder_award_id":"62003016","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6735499984","display_name":null,"funder_award_id":"2020YFA0711200","funder_id":"https://openalex.org/F4320329860","funder_display_name":"National Science and Technology Major Project"},{"id":"https://openalex.org/G702844089","display_name":null,"funder_award_id":"61903019","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7909562624","display_name":null,"funder_award_id":"IRT 16R03","funder_id":"https://openalex.org/F4320321106","funder_display_name":"Ministry of Education of the People's Republic of China"},{"id":"https://openalex.org/G8016965381","display_name":null,"funder_award_id":"61973012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8397404860","display_name":null,"funder_award_id":"LD21F030001","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321106","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934"},{"id":"https://openalex.org/F4320322162","display_name":"Hangzhou Science and Technology Bureau","ror":"https://ror.org/04gvkax77"},{"id":"https://openalex.org/F4320329860","display_name":"National Science and Technology Major Project","ror":null},{"id":"https://openalex.org/F4320338110","display_name":"Science and Technology Department of Zhejiang Province","ror":"https://ror.org/05yj3y977"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W608088085","https://openalex.org/W1964511224","https://openalex.org/W1978555529","https://openalex.org/W1981174120","https://openalex.org/W1995661409","https://openalex.org/W1997543377","https://openalex.org/W2001524797","https://openalex.org/W2007692097","https://openalex.org/W2008026620","https://openalex.org/W2026676067","https://openalex.org/W2047035041","https://openalex.org/W2058288278","https://openalex.org/W2065292058","https://openalex.org/W2098946742","https://openalex.org/W2107122393","https://openalex.org/W2161944602","https://openalex.org/W2167808181","https://openalex.org/W2197726977","https://openalex.org/W2230652337","https://openalex.org/W2471105935","https://openalex.org/W2607714105","https://openalex.org/W2619551236","https://openalex.org/W2736449616","https://openalex.org/W2737188128","https://openalex.org/W2752466400","https://openalex.org/W2762248135","https://openalex.org/W2793044430","https://openalex.org/W2807402986","https://openalex.org/W2889571560","https://openalex.org/W2963651065","https://openalex.org/W2963945659","https://openalex.org/W2967173189","https://openalex.org/W3003720010","https://openalex.org/W3027314477","https://openalex.org/W3045333156","https://openalex.org/W3048351835","https://openalex.org/W3095120097","https://openalex.org/W3105252106","https://openalex.org/W3111964245","https://openalex.org/W3128311260","https://openalex.org/W3133988555","https://openalex.org/W3134397487","https://openalex.org/W3174123873","https://openalex.org/W3196470175","https://openalex.org/W3213666303","https://openalex.org/W3213862473","https://openalex.org/W3215459290","https://openalex.org/W4211049957","https://openalex.org/W4220980178","https://openalex.org/W4224038970","https://openalex.org/W4224981463","https://openalex.org/W4243385754","https://openalex.org/W4281709729","https://openalex.org/W4283316872","https://openalex.org/W4300888174","https://openalex.org/W4313325790","https://openalex.org/W4313326410","https://openalex.org/W4317515515","https://openalex.org/W6738980247","https://openalex.org/W6745409990"],"related_works":["https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W2161681971","https://openalex.org/W2172182590","https://openalex.org/W2197323063","https://openalex.org/W2142476074","https://openalex.org/W2221071558","https://openalex.org/W2104832047","https://openalex.org/W2885663867","https://openalex.org/W2074309356"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,46,58,77,92,99,115,213,245,279,311],"concerned":[3],"with":[4,255,267],"the":[5,19,22,27,32,39,43,49,52,62,67,95,106,110,119,130,137,140,149,153,172,176,179,187,216,221,235,249,256,262,268,271,276,292,295,303,312,315,322,325,328],"contact":[6,23,80,120,141,180,333,348],"force":[7,81,111,121,162,201,263,272,334,349],"estimation":[8,82,163,335,350],"problem":[9],"of":[10,18,31,38,66,105,117,136,175,220,314],"robot":[11,165],"manipulators":[12,166],"based":[13],"on":[14,132,327],"imperfect":[15,28],"dynamic":[16,29,134,173,211,264,330],"models":[17,135,174,184,331],"manipulator":[20,138,177],"and":[21,42,51,64,83,125,139,144,178,191,224,282,294,340,354],"force.":[24,142,181],"To":[25,203],"handle":[26,204],"information":[30],"manipulator,":[33,50,217],"a":[34,73,84,207,225],"hybrid":[35,210],"model,":[36],"consisting":[37],"nominal":[40,222],"model":[41,212,223],"residual":[44,68,123,226],"dynamics,":[45],"established":[47,78,214],"for":[48,79,164,215,347],"Gaussian":[53,85],"process":[54,86],"regression":[55],"(GPR)":[56],"technique":[57,98,252],"employed":[59,100],"to":[60,101,159,253],"learn":[61],"mean":[63],"covariance":[65,259,287],"dynamics.":[69,112],"On":[70,237],"this":[71,205,238,341],"basis,":[72,239],"virtual":[74],"measurement":[75],"equation":[76],"adaptive":[87,241],"disturbance":[88,192,242,317],"Kalman":[89,193,243,304],"filter":[90,244],"(GPADKF)":[91],"developed":[93],"where":[94],"variational":[96,250,296],"Bayes":[97,251,297],"achieve":[102],"online":[103],"identification":[104],"noise":[107,258,286],"statistics":[108],"in":[109,261,302,332],"The":[113,307],"GPADKF":[114,309],"capable":[116],"decoupling":[118],"from":[122,231],"dynamics":[124,227],"system":[126],"noises,":[127],"thereby":[128],"reducing":[129],"dependence":[131],"accurate":[133,200,281],"Simulation":[143],"experimental":[145],"results":[146],"demonstrate":[147],"that":[148],"proposed":[150,277,308,323],"scheme":[151,278],"outperforms":[152],"state-of-art":[154],"methods.":[155],"<italic":[156],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[157],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[158],"Practitioners</i>":[160],"\u2014Contact":[161],"can":[167,196,336],"be":[168,337],"achieved":[169],"by":[170,247,290],"fusing":[171],"When":[182],"both":[183,291],"are":[185],"imprecise,":[186],"traditional":[188],"inverse":[189],"dynamics-based":[190],"filter-based":[194],"approaches":[195],"no":[197],"longer":[198],"provide":[199],"estimates.":[202],"challenge,":[206],"computationally":[208],"efficient":[209],"which":[218],"consists":[219],"compensation":[228],"term":[229],"learned":[230],"offline":[232],"data":[233],"via":[234,275],"GPR.":[236],"an":[240],"constructed":[246],"using":[248],"deal":[254],"inaccurate":[257],"matrix":[260],"model.":[265],"Compared":[266],"existing":[269],"approaches,":[270],"estimate":[273],"obtained":[274],"more":[280],"reliable,":[283],"as":[284],"refined":[285],"matrices":[288],"(provided":[289],"GPR":[293],"procedure)":[298],"have":[299],"been":[300],"adopted":[301],"gain":[305],"calculation.":[306],"method":[310],"extension":[313],"composite":[316],"filtering":[318],"(CDF)":[319],"framework.":[320],"With":[321],"scheme,":[324],"dependency":[326],"perfect":[329],"significantly":[338],"reduced,":[339],"makes":[342],"our":[343],"approach":[344],"especially":[345],"suitable":[346],"problems":[351],"under":[352],"unfamiliar":[353],"complicated":[355],"environments.":[356]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-24T08:02:53.985720","created_date":"2025-10-10T00:00:00"}