A steering apparatus comprising: a first shaft which is coupled to a steering wheel, the steering wheel being a steering wheel by which a vehicle is steered; a torsion bar; a second shaft which is coupled to the first shaft through the torsion bar; a torsion bar torque detection unit, the torsion bar torque detection unit detecting a torsion bar torque (T tb) which is applied to the torsion bar; and an electronic control unit configured to estimate a driver torque (Td) which is applied to the steering wheel by a driver, wherein the electronic control unit is configured to: i) compute a steering wheel rotation angle (θ sw) which is a rotation angle of the steering wheel; and ii) compute a value including an added value, as the driver torque (T d), the added value being a value resulting from adding the torsion bar torque (T tb), a steering wheel inertia torque compensation value, and a gravity torque compensation value (T g), the steering wheel inertia torque compensation value being a product of a second-order differential value of the steering wheel rotation angle (θ sw) and an inertia moment of the steering wheel, the gravity torque compensation value (T g) being a compensation value for a gravity torque to be applied to the first shaft by gravity that acts on a gravity center of the steering wheel, and wherein the steering apparatus is characterized in that, the electronic control unit is configured to compute the driver torque (T d) by adding a coulomb friction torque compensation value (Tf) to the added value, the coulomb friction torque compensation value (Tf) being a compensation value for a coulomb friction torque that acts on the first shaft and the steering wheel; and the coulomb friction torque compensation value (Tf) is a product of a hyperbolic tangent and a predetermined coulomb friction torque coefficient (G f), the hyperbolic tangent being a hyperbolic tangent of a product of a predetermined coulomb friction torque gradient (η) and a first-order differential value of the steering wheel rotation angle (θ sw). a first shaft which is coupled to a steering wheel, the steering wheel being a steering wheel by which a vehicle is steered; a torsion bar; a second shaft which is coupled to the first shaft through the torsion bar; a torsion bar torque detection unit, the torsion bar torque detection unit detecting a torsion bar torque (T tb) which is applied to the torsion bar; and an electronic control unit configured to estimate a driver torque (Td) which is applied to the steering wheel by a driver, wherein the electronic control unit is configured to: i) compute a steering wheel rotation angle (θ sw) which is a rotation angle of the steering wheel; and ii) compute a value including an added value, as the driver torque (T d), the added value being a value resulting from adding the torsion bar torque (T tb), a steering wheel inertia torque compensation value, and a gravity torque compensation value (T g), the steering wheel inertia torque compensation value being a product of a second-order differential value of the steering wheel rotation angle (θ sw) and an inertia moment of the steering wheel, the gravity torque compensation value (T g) being a compensation value for a gravity torque to be applied to the first shaft by gravity that acts on a gravity center of the steering wheel, and i) compute a steering wheel rotation angle (θ sw) which is a rotation angle of the steering wheel; and ii) compute a value including an added value, as the driver torque (T d), the added value being a value resulting from adding the torsion bar torque (T tb), a steering wheel inertia torque compensation value, and a gravity torque compensation value (T g), the steering wheel inertia torque compensation value being a product of a second-order differential value of the steering wheel rotation angle (θ sw) and an inertia moment of the steering wheel, the gravity torque compensation value (T g) being a compensation value for a gravity torque to be applied to the first shaft by gravity that acts on a gravity center of the steering wheel, and wherein the steering apparatus is characterized in that, the electronic control unit is configured to compute the driver torque (T d) by adding a coulomb friction torque compensation value (Tf) to the added value, the coulomb friction torque compensation value (Tf) being a compensation value for a coulomb friction torque that acts on the first shaft and the steering wheel; and the coulomb friction torque compensation value (Tf) is a product of a hyperbolic tangent and a predetermined coulomb friction torque coefficient (G f), the hyperbolic tangent being a hyperbolic tangent of a product of a predetermined coulomb friction torque gradient (η) and a first-order differential value of the steering wheel rotation angle (θ sw).