Adaptive neural network dynamic surface control for musculoskeletal robots

Abstract—Musculoskeletal robots are a class of compliant, tendon-driven robots that can be used in robotics applications, as well as in the study of biological motor systems. Unfor-tunately, there is little progress in controlling such systems. Modern non-linear control approaches are used to overcome the challenges posed by the muscle compliance, the multi-DoF joints, as well as unmodeled dynamic effects such as friction. A controller is derived for a generic model of musculoskeletal robots utilizing a multidimensional form of Dynamic Surface Control (DSC), an extension to backstepping. This controller is extended by an adaptive neural network to compensate for both muscle and joint friction. The developed controllers are evaluated against the state of the art Computed Force Control (CFC), an application of feedback linearization, for a spherical joint which is actuated by five muscles. Keywords—Musculoskeletal robots, dynamic surface control, adaptive neural networks, compliant actuation, non-linear con-trol, backstepping I