Distributed Multiagent for NAO Robot Joint Position Control Based on Echo State Network
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-09-01
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Qin, Ling& Lei, Bo. 2015. Distributed Multiagent for NAO Robot Joint Position Control Based on Echo State Network. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-7.
https://search.emarefa.net/detail/BIM-1075141
Modern Language Association (MLA)
Qin, Ling& Lei, Bo. Distributed Multiagent for NAO Robot Joint Position Control Based on Echo State Network. Mathematical Problems in Engineering No. 2015 (2015), pp.1-7.
https://search.emarefa.net/detail/BIM-1075141
American Medical Association (AMA)
Qin, Ling& Lei, Bo. Distributed Multiagent for NAO Robot Joint Position Control Based on Echo State Network. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-7.
https://search.emarefa.net/detail/BIM-1075141
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1075141