Abstract
Dynamic biped walking is a difficult control problem. The problem involves the design of the controller as well as the gait. In this paper, the design of the controller and the gait is formulated as a parameter search problem and a genetic algorithm is applied to help the design. Designs to achieve different goals, such as being able to walk on an inclined surface, walk at a high speed or with a specified step size have been evolved with the use of the genetic algorithm. Simulation results show that the genetic algorithm is capable of finding good solutions.
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