Mathematical Problems in Engineering / 2015 / Article / Alg 1

Research Article

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: