ARKOMA: The Dataset to Build Neural Networks-Based Inverse Kinematics for NAO Robot Arms

Citation Author(s):
Institut Teknologi Sepuluh Nopember
Eko Mulyanto
Institut Teknologi Sepuluh Nopember
Mauridhi Hery
Institut Teknologi Sepuluh Nopember
Submitted by:
Arif Nugroho
Last updated:
Sun, 11/12/2023 - 22:50
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The dataset that we published in this data repository can be used to build neural networks-based inverse kinematics for NAO robot arms. This dataset is named ARKOMA. ARKOMA is an acronym for ARif eKO MAuridhi, all of whom are the creators of this dataset. This dataset contains input-output data pairs. In this dataset, the input data is the end-effector position and orientation, while the output data is a set of joint angular positions. For further applications, this dataset was split into the training dataset, validation dataset, and testing dataset. The training dataset is used to train neural networks. The validation dataset is utilized to validate neural networks' performance during the training process. Meanwhile, the testing dataset is employed after the training process to test the performance of trained neural networks. From a set of 10000 data, 60% of data was allocated for the training dataset, 20% of data for the validation dataset, and the other 20% of data for the testing dataset.


The presence of this dataset can be utilized to build neural networks-based inverse kinematics for NAO robot arms. This dataset is compatible with NAO H25 v3.3 or later.

Funding Agency: 
Ministry of Research, Technology, and Higher Education of the Republic of Indonesia