# Estimation of external forces acting on the legs of a quadruped robot using two nonlinear disturbance observers

> Research article (2016 4th International Conference on Robotics and Mechatronics (ICROM), 2016) · cited 18× · AI/ML

**Wikidata**: [openalex:W2600092780](https://www.wikidata.org/wiki/openalex:W2600092780)  
**Source**: https://4ort.xyz/entity/estimation-of-external-forces-acting-on-the-legs-of-a-quadruped-robot-using-two-nonlinear-disturbance-observers