Trajectory generation for biped locomotion robot

Abstract

The purpose of this research is to generate natural motion for a biped robot. It is difficult to generate stable and natural walking motion in various environments. In this paper, we propose the hierarchical evolutionary algorithm to generate a walking motion through energy optimization and aim to generate a natural motion by considering ZMP. The hierarchical evolutionary algorithm is a co-evolution algorithm of two optimization algorithms, one is the GA that minimizes the total energy of all actuators, and the other is the EP that optimizes interpolated configuration of biped locomotion robot. This hierarchical evolutionary algorithm can find the solution from a large numerical combination area, effectively. We obtain natural walking motions on some slopes using this algorithm, and confirm that the acquired trajectories can be applied successfully to the practical biped locomotion robot.