Table 3 Randomly generated input data (link lengths) and output (foot profile length) using ANN, GA, and regression approach
From: Development of a model for a walking robot made of Desai mechanism using ANN and regression approach
Test set | Input: link lengths (mm) | Output: foot profile length (mm) | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|
L2 | L3 | L5 | L7 | Theta | L8 | EQ | ANN | GA | Regression | |
1 | 219.86 | 288.2 | 101.78 | 286.83 | 0.6 | 271.45 | 2.17 | 248.63 | 63.35 | 237.77 |
2 | 147.51 | 178.59 | 274.52 | 369.57 | 0.93 | 459.17 | 164.2 | 148.06 | 494.46 | 468.59 |
3 | 303.93 | 271.66 | 183.9 | 411.41 | 0.18 | 523.31 | 79.24 | 507.30 | 302.33 | 393.68 |
4 | 177.78 | 250.89 | 309.06 | 443.45 | 1.95 | 515.18 | − 22.81 | 338.94 | 437.30 | |
5 | 136.01 | 149.47 | 269.63 | 453.94 | 1.35 | 477.2 | 116.67 | 309.47 | 433.46 | |
6 | 193.38 | 302.27 | 304.93 | 484.46 | 3.21 | 404.16 | 136.41 | 885.40 | 229.02 | 238.09 |
7 | 110.09 | 243.76 | 291.64 | 288.9 | 1.5 | 256.46 | 39.77 | 268.05 | 229.023 | 324.79 |
8 | 106.51 | 208.6 | 170.46 | 393.84 | 1.89 | 347.66 | 96.35 | 369.82 | 289.46 | |
9 | 213.26 | 194.78 | 307.52 | 313.96 | 1.53 | 284.39 | − 6.67 | 436.84 | 375.71 | |
10 | 237.69 | 169.01 | 283.99 | 342 | 4.07 | 445.86 | 5.61 | 202.78 | 523.75 | |
11 | 110.2 | 294.08 | 196.9 | 339.71 | 2.68 | 433.62 | 129.92 | 262.24 | 212.66 | 368.31 |