A VAGP-Based Adaptive Kalman Filter for Force Estimation of Robot

In human-robot interaction, external force measurement is fundamental to achieving robot compliance control. Parameter identification based on robot dynamics enables external force detection without expensive sensors. However, the unmodeled dynamic errors inherent in real robots pose a challenge to force estimation accuracy. In addition, existing force estimation methods often suffer from high computational dimensionality and an excessive number of tuning parameters, which limits their generaliz