BAS Optimized ELM for KUKA iiwa Robot Learning

In this brief, an enhanced robotic learning interface has been investigated using Beetle Antennae Search (BAS) and Extreme Learning Machine (ELM). The initial values of weights bias the network have significant effect on performance ELM, hence, BAS algorithm was employed to optimize bias. Kinect v2 camera sensor applied obtain endpoint's position upper limb, MYO armband used measure corresponding joint angle values. Those aforementioned data formed dataset be trained by ELM after training model able generate only giving as input without a need carry out kinematic calculations. proposed method validated conducting series experimental studies KUKA iiwa robot.