# A nonlinear momentum observer for sensorless robot collision detection under model uncertainties

> Research article (Mechatronics, 2021) · cited 39× · AI/ML

**Wikidata**: [openalex:W3180889492](https://www.wikidata.org/wiki/openalex:W3180889492)  
**Source**: https://4ort.xyz/entity/a-nonlinear-momentum-observer-for-sensorless-robot-collision-detection-under-model-uncertainties