# Cartesian contact force estimation for robotic manipulators using Kalman filters and the generalized momentum

> Research article (2015 IEEE International Conference on Automation Science and Engineering (CASE), 2015) · cited 95× · AI/ML

**Wikidata**: [openalex:W1666709923](https://www.wikidata.org/wiki/openalex:W1666709923)  
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