A neural Proportional, Integral and Differential(PID) controller was designed for this kind of joint. The algorithm mainly includes two neural networks: Neural Network Identifier (NNI) and Neural Network Controller (NNC).

• 针对这种关节设计了神经PID控制算法,该算法主要包括两个神经网络:系统在线辨识器NNI和自适应PID控制器NNC。