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

Algorithm 1

Control law of joint motion.

Input:  

 (1) Initialize networks

 (2) Linear transform inputs:

 (2) Setting parameter for ESN: input weight , back weight , radius

 (3) Compute predicted estimation: sparseness

 (4) Update:

 (5) Training

 (6) end for

 (7) for    do

 (8) Getting Training MSE:

 (9) Getting Testing MSE:

 (10) for each   do

 (11) While () then to Step  7

 (12) compute output value

 (13) end for

Output: