An Evolutionary Algorithm for Trajectory Based Gait Generation of Biped Robot

摘要

The evolution of a dynamic walking gait of biped robot is presented in this paper. The gait is generated for a biped robot to walk on flat ground and climb up stairs. For the trajectory based gait generation, various parameters satisfy ZMP criterion and can realize continuous walking. The evolutionary algorithm is used to choose the parameter combinations. Simulation studies show that the algorithm successfully achieves desired performance in dynamic walking. The RoboSapien, a 17 DOF biped robot is built to apply and verify the walking algorithm.