DocumentCode :
1692465
Title :
Modeling of McKibben Pneumatic artificial muscles using optimized Echo State Networks
Author :
Zhou, Hanying ; Wang, Yongji ; Xing, Kexin
Author_Institution :
Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China
fYear :
2010
Firstpage :
1723
Lastpage :
1728
Abstract :
In conventional techniques for modeling Pneumatic artificial muscle, there are difficulties such as poor knowledge of the process, inaccurate process or complexity of the resulting mathematical model. Trying to solve these problems, this study investigates the method of establishing the model using a novel network-Echo State Network (ESN). We introduce the mechanism of this net and apply it to our modeling work. The relevant parameters of the net were optimized using Particle Swarm Optimization (PSO). Then we get the simulation results which reveal that it can get quite satisfactory results.
Keywords :
particle swarm optimisation; prosthetics; McKibben pneumatic artificial muscles; optimized echo state networks; particle swarm optimization; Artificial neural networks; Data models; Force; Mathematical model; Muscles; Training; Trajectory; Echo State Network; McKibben Artificial Muscles; Modeling;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
Type :
conf
DOI :
10.1109/WCICA.2010.5554635
Filename :
5554635
Link To Document :
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