# Contact Force Estimation Method of Legged-Robot and Its Application in Impedance Control

> Research article (IEEE Access, 2020) · cited 52× · AI/ML

**Wikidata**: [openalex:W3082421160](https://www.wikidata.org/wiki/openalex:W3082421160)  
**Source**: https://4ort.xyz/entity/contact-force-estimation-method-of-legged-robot-and-its-application-in-impedance-control