Distributed Multiagent for NAO Robot Joint Position Control Based on Echo State Network

Ling Qin and Bo Lei

Mathematical Problems in Engineering, 2015, vol. 2015, 1-7

Abstract:

Based on echo state networks, the joints position control of NAO robot is studied in this paper. The process to control the robot position can be divided into two phases. The senor parameters are released during the first phase. Depending on the dynamic coupling effect between the angle acceleration of passive joint and the torque of active joint, passive joint can be controlled indirectly to the desired position along the desired trajectory. The ESN control rules during the first phase are described and ESN controller is designed to control the motion of passive joint. The brake is locked during the second phase; then active joint is controlled to the desired position. The experimental control system based on PMAC controller is designed and developed. Finally, the joint position control of the NAO robot is achieved successfully by experiments. Echo state networks utilized incremental updates driven by new sensor readings and massive short memory with history inputs; thus varying communication rates can help imitate human upper limb motion based on wearable sensors to obtain human joint angles.

Date: 2015
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2015/945493.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2015/945493.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:945493

DOI: 10.1155/2015/945493

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().