Abstract
The purpose of this study is to generate the gait of two-legged robot by using optimization method. Stepping points are determined optimally under the conditions of maximizing walking speed and minimizing energy for walking. The gait generation problem is reduced to a multi-objective combinatorial optimization problem solved by using genetic algorithm. The stable walking patterns are obtained under the condition of the maximizing walking speed and the minimizing energy consumption. The Pareto front for the each specification of robot is visualized by the NSGA-II. Then the obtained Pareto front of stable walking gait is divided into several groups by using clustering algorithm. The selection criteria to determine the optimum walking gait based on the two conditions in the trade-off relationship are obtained by proposed method.
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