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Mathematical Problems in Engineering
Volume 2015, Article ID 945493, 7 pages
Research Article

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

Ling Qin1,2 and Bo Lei3

1School of Automation, Huazhong University of Technology and Science, Wuhan 430074, China
2Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China
3School of Mechanical and Electronic Information, University of Geosciences, Wuhan 430074, China

Received 25 July 2014; Accepted 29 October 2014

Academic Editor: Wei Zhang

Copyright © 2015 Ling Qin and Bo Lei. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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.