# External force estimation for robot manipulator based on a LuGre-linear-hybrid friction model and an improved square root cubature Kalman filter

> Research article (Industrial Robot the international journal of robotics research and application, 2022) · cited 14× · AI/ML

**Wikidata**: [openalex:W4281647027](https://www.wikidata.org/wiki/openalex:W4281647027)  
**Source**: https://4ort.xyz/entity/external-force-estimation-for-robot-manipulator-based-on-a-lugre-linear-hybrid-friction-model-and-an-improved-square-roo