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Experimental Modeling of Hexapod Robot Using Artificial Intelligence

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Proceedings of the International Conference on Artificial Intelligence and Computer Vision (AICV2020) (AICV 2020)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1153))

Abstract

Hexapod Robots gave us the opportunity to study walking robots without facing problems such as stability and expensive custom made hardware. It has a great deal of flexibility in moving over different terrains even if some legs become malfunctioned or facing some difficulties in movement. In this study the kinematic analysis of CH3-R 18DOF Hexapod Robot is discussed where each leg contains three revolute joints in order to mimic the structure of a spider. To develop the overall kinematic model of CH3-R robot, direct and inverse kinematic analyses for each leg have been considered where the Denavit-Hartenberg (D-H) conventions will be used to perform the forward kinematic analysis of the six-legged robot while the inverse kinematics are obtained by simplifying the architecture of the robot into 7 modules, a hexagon trunk and 6 limbs between the trunk and the ground. A neural network (NN) model was employed in order to compare and decide the angles prediction, training time and overall performance with the ones obtained from the analytical solution of the inverse kinematics. The data points used for training the two models and testing their performance was acquired from giving the robot an initial and final position and recording the change in the coordinates and time by using an IMU sensor.

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Author information

Authors and Affiliations

  1. Smart Engineering Systems Research Center (SESC), Nile University, Sheikh Zayed City, Giza, 12588, Egypt

    Abdelrahman Sayed Sayed, Ahmed Magd Aly & Hossam Hassan Ammar

  2. School of Engineering and Applied Sciences, Nile University Campus, Sheikh Zayed District, Juhayna Square, 6th of October City, Giza, 12588, Egypt

    Abdelrahman Sayed Sayed, Amr Ahmed Mohamed, Ahmed Magd Aly, Youssef Mohamed Hassan, Abdallah Mahir Abdulaziz, Hossam Hassan Ammar & Rafaat Shalaby

  3. Faculty of Electronic Engineering, Menofia University, Menofia, Egypt

    Rafaat Shalaby

Authors
  1. Abdelrahman Sayed Sayed
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  2. Amr Ahmed Mohamed
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  3. Ahmed Magd Aly
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  4. Youssef Mohamed Hassan
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  5. Abdallah Mahir Abdulaziz
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  6. Hossam Hassan Ammar
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  7. Rafaat Shalaby
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Corresponding author

Correspondence to Abdelrahman Sayed Sayed .

Editor information

Editors and Affiliations

  1. Information Technology Department, Cairo University, Faculty of Computers and Information, Giza, Egypt

    Aboul-Ella Hassanien

  2. Faculty of Computers and Information, Benha University, Banha, Egypt

    Ahmad Taher Azar

  3. Faculty of Computers and Information, Suez Canal University, Ismailia, Egypt

    Tarek Gaber

  4. Departamento de Ciencias Computacionales, Universidad de Guadalajara, CUCEI, Guadajalara, Jalisco, Mexico

    Diego Oliva

  5. Faculty of Computer and Information Sciences, Ain Shams University, Cairo, Egypt

    Fahmy M. Tolba

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Sayed, A.S. et al. (2020). Experimental Modeling of Hexapod Robot Using Artificial Intelligence. In: Hassanien, AE., Azar, A., Gaber, T., Oliva, D., Tolba, F. (eds) Proceedings of the International Conference on Artificial Intelligence and Computer Vision (AICV2020). AICV 2020. Advances in Intelligent Systems and Computing, vol 1153. Springer, Cham. https://doi.org/10.1007/978-3-030-44289-7_3

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