Non-Linear Control Strategies for Musculoskeletal Robots

Recently, focus has shifted to more human-friendly robots, especially in the field of service or rehabilitation robotics, where research aims at bringing robots into increasingly unstructured environments. In this work, modern techniques from non-linear control are employed to develop a control framework for the class of musculoskeletal robots. The developed control framework, comprising several different controller types, was evaluated on a robot arm that was developed to cover the control challenges of this type of robot.

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