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This paper proposes an external force estimation algorithm that does not require dynamical models and force-torque (F/T) sensors. The explicit use of robot dynamical models, required by most of other works to estimate the external force, is unfavorable in the practical view point due to arduous identification of system parameters and inevitable modeling error. Time-Delay Estimation (TDE) scheme alleviates the needs for the robot dynamical models. By the virtue of TDE, the external force is estimated without robot dynamical models and F/T sensors. Through application to the impedance control of two degrees-of-freedom robot, the efficacy of the proposed algorithm has been validated.

Modeless and Sensorless External Force Estimation using Time-Delay Estimation: Application to the Impedance Control