Depends on orocos_kdl orocos_kdl and trac_ik. Implements kinematic and dynamic models, and an external torque observer [1].
[1] De Luca, A. and Mattone, R. (2005). Sensorless robot collision detection and hybrid force/motion control. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pages 999–1004.