ARKOMA dataset: An open-source dataset to develop neural networks-based inverse kinematics model for NAO robot arms

Abstract

The inverse kinematics plays a vital role in the planning and execution of robot motions. In the design of robotic motion control for NAO robot arms, it is necessary to find the proper inverse kinematics model. Neural networks are such a data-driven modeling technique that they are so flexible for modeling the inverse kinematics. This inverse kinematics model can be obtained by means of training neural networks with the dataset. This training process cannot be achieved without the presence of the dataset. Therefore, the contribution of this research is to provide the dataset to develop neural networks-based inverse kinematics model for NAO robot arms. The dataset that we created in this paper is named ARKOMA. ARKOMA is an acronym for ARif eKO MAuridhi, all of whom are the creators of this dataset. This dataset contains 10000 input-output data pairs in which the end-effector position and orientation are the input data and a set of joint angular positions are the output data. For further application, this dataset was split into three subsets: training dataset, validation dataset, and testing dataset. From a set of 10000 data, 60 % of data was allocated for the training dataset, 20 % of data for the validation dataset, and the remaining 20 % of data for the testing dataset. The dataset that we provided in this paper can be applied for NAO H25 v3.3 or later.

Keywords

• NAO robot arms
• Robotic motion control
• Inverse kinematics
• Data-driven modeling technique
• Neural networks
• Training dataset