External torque observers for a robot manipulator.
lib contains C++ implementations for such observers as:
- momentum observer
- disturbance observer
- sliding mode observer
- Kalman filter based observer
- dynamic filter based observer
matlab is the Matlab wrapper code for the observers.
tests contains some tests.
Integration with ROS can be found in the "ros_examples" branch.
The library was developed for the research
@article{mamedov2020practical,
title={Practical aspects of model-based collision detection},
author={Mamedov, Shamil and Mikhel, Stanislav},
journal={Frontiers in Robotics and AI},
volume={7},
pages={571574},
year={2020},
publisher={Frontiers Media SA}
}